parallel_node.h

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/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018-2022 Davide Faconti, Eurecat -  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"),
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*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
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#pragma once
 
#include <set>
#include "behaviortree_cpp_v3/control_node.h"
 
namespace BT
{
class ParallelNode : public ControlNode
{
public:
  ParallelNode(const std::string& name, int success_threshold, int failure_threshold = 1);
 
  ParallelNode(const std::string& name, const NodeConfiguration& config);
 
  static PortsList providedPorts()
  {
    return {InputPort<int>(THRESHOLD_SUCCESS, "number of childen which need to succeed "
                                              "to "
                                              "trigger a SUCCESS"),
            InputPort<int>(THRESHOLD_FAILURE, 1,
                           "number of childen which need to fail to trigger a FAILURE")};
  }
 
  ~ParallelNode() override = default;
 
  virtual void halt() override;
 
  size_t successThreshold() const;
  size_t failureThreshold() const;
  void setSuccessThreshold(int threshold_M);
  void setFailureThreshold(int threshold_M);
 
private:
  int success_threshold_;
  int failure_threshold_;
 
  std::set<int> skip_list_;
 
  bool read_parameter_from_ports_;
  static constexpr const char* THRESHOLD_SUCCESS = "success_threshold";
  static constexpr const char* THRESHOLD_FAILURE = "failure_threshold";
 
  virtual BT::NodeStatus tick() override;
};
 
}   // namespace BT