sleep_node.cpp

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#include "behaviortree_cpp/actions/sleep_node.h"
 
namespace BT
{
 
SleepNode::SleepNode(const std::string& name, const NodeConfig& config)
  : StatefulActionNode(name, config), timer_waiting_(false)
{}
 
NodeStatus SleepNode::onStart()
{
  unsigned msec = 0;
  if(!getInput("msec", msec))
  {
    throw RuntimeError("Missing parameter [msec] in SleepNode");
  }
 
  if(msec <= 0)
  {
    return NodeStatus::SUCCESS;
  }
 
  setStatus(NodeStatus::RUNNING);
 
  timer_waiting_ = true;
 
  timer_id_ = timer_.add(std::chrono::milliseconds(msec), [this](bool aborted) {
    std::unique_lock<std::mutex> lk(delay_mutex_);
    if(!aborted)
    {
      emitWakeUpSignal();
    }
    timer_waiting_ = false;
  });
 
  return NodeStatus::RUNNING;
}
 
NodeStatus SleepNode::onRunning()
{
  return timer_waiting_ ? NodeStatus::RUNNING : NodeStatus::SUCCESS;
}
 
void SleepNode::onHalted()
{
  timer_waiting_ = false;
  timer_.cancel(timer_id_);
}
 
}  // namespace BT