00001 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved 00002 * Copyright (C) 2018-2019 Davide Faconti, Eurecat - All Rights Reserved 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), 00005 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 00006 * 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: 00007 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. 00008 * 00009 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00010 * 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, 00011 * 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. 00012 */ 00013 00014 #ifndef PARALLEL_NODE_H 00015 #define PARALLEL_NODE_H 00016 00017 #include <set> 00018 #include "behaviortree_cpp/control_node.h" 00019 00020 namespace BT 00021 { 00022 00023 class ParallelNode : public ControlNode 00024 { 00025 public: 00026 00027 ParallelNode(const std::string& name, unsigned threshold); 00028 00029 ParallelNode(const std::string& name, const NodeConfiguration& config); 00030 00031 static PortsList providedPorts() 00032 { 00033 return { InputPort<unsigned>(THRESHOLD_KEY) }; 00034 } 00035 00036 ~ParallelNode() = default; 00037 00038 virtual void halt() override; 00039 00040 unsigned int thresholdM(); 00041 void setThresholdM(unsigned int threshold_M); 00042 00043 private: 00044 unsigned int threshold_; 00045 00046 std::set<int> skip_list_; 00047 00048 bool read_parameter_from_ports_; 00049 static constexpr const char* THRESHOLD_KEY = "threshold"; 00050 00051 virtual BT::NodeStatus tick() override; 00052 }; 00053 00054 } 00055 #endif // PARALLEL_NODE_H