test_node.h

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/*  Copyright (C) 2022 Davide Faconti -  All Rights Reserved
 *
*
*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
*   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
 
#pragma once
 
#include "behaviortree_cpp/action_node.h"
#include "behaviortree_cpp/utils/timer_queue.h"
#include "behaviortree_cpp/scripting/script_parser.hpp"
 
namespace BT
{
 
struct TestNodeConfig
{
  NodeStatus return_status = NodeStatus::SUCCESS;
 
  std::string success_script;
 
  std::string failure_script;
 
  std::string post_script;
 
  std::chrono::milliseconds async_delay = std::chrono::milliseconds(0);
 
  std::function<NodeStatus(void)> complete_func = [this]() { return return_status; };
};
 
class TestNode : public BT::StatefulActionNode
{
public:
  TestNode(const std::string& name, const NodeConfig& config, TestNodeConfig test_config);
 
  static PortsList providedPorts()
  {
    return {};
  }
 
protected:
  virtual NodeStatus onStart() override;
 
  virtual NodeStatus onRunning() override;
 
  virtual void onHalted() override;
 
  NodeStatus onCompleted();
 
  TestNodeConfig _test_config;
  ScriptFunction _success_executor;
  ScriptFunction _failure_executor;
  ScriptFunction _post_executor;
  TimerQueue<> _timer;
  std::atomic_bool _completed = false;
};
 
}  // namespace BT