broken_sequence.cpp

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#include "Blackboard/blackboard_local.h"
#include "behaviortree_cpp_v3/behavior_tree.h"
#include "behaviortree_cpp_v3/bt_factory.h"
 
using namespace BT;
 
NodeStatus SayHello()
{
  printf("hello\n");
  return NodeStatus::SUCCESS;
}
 
class ActionTestNode : public ActionNode
{
public:
  ActionTestNode(const std::string& name) : ActionNode(name)
  {}
 
  NodeStatus tick() override
  {
    time_ = 5;
    stop_loop_ = false;
    int i = 0;
    while (!stop_loop_ && i++ < time_)
    {
      std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }
    return NodeStatus::SUCCESS;
  }
 
  virtual void halt() override
  {
    stop_loop_ = true;
    setStatus(NodeStatus::IDLE);
  }
 
private:
  int time_;
  std::atomic_bool stop_loop_;
};
 
int main()
{
  BT::SequenceNode root("root");
  BT::SimpleActionNode action1("say_hello", std::bind(SayHello));
  ActionTestNode action2("async_action");
 
  root.addChild(&action1);
  root.addChild(&action2);
 
  int count = 0;
 
  NodeStatus status = NodeStatus::RUNNING;
 
  while (status == NodeStatus::RUNNING)
  {
    status = root.executeTick();
 
    std::cout << count++ << " : " << root.status() << " / " << action1.status() << " / "
              << action2.status() << std::endl;
 
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
  }
 
  return 0;
}
// Output
/*
 
hello
0 : RUNNING / SUCCESS / RUNNING
hello
1 : RUNNING / SUCCESS / RUNNING
hello
2 : RUNNING / SUCCESS / RUNNING
hello
3 : RUNNING / SUCCESS / RUNNING
hello
4 : RUNNING / SUCCESS / RUNNING
hello
5 : SUCCESS / IDLE / IDLE
 
*/