sleep_node.h

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#pragma once
 
#include "behaviortree_cpp/action_node.h"
#include "behaviortree_cpp/utils/timer_queue.h"
#include <atomic>
 
namespace BT
{
class SleepNode : public StatefulActionNode
{
public:
  SleepNode(const std::string& name, const NodeConfig& config);
 
  ~SleepNode() override
  {
    halt();
  }
 
  NodeStatus onStart() override;
 
  NodeStatus onRunning() override;
 
  void onHalted() override;
 
  static PortsList providedPorts()
  {
    return { InputPort<unsigned>("msec") };
  }
 
private:
  TimerQueue<> timer_;
  uint64_t timer_id_;
 
  std::atomic_bool timer_waiting_ = false;
  std::mutex delay_mutex_;
};
 
}  // namespace BT