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 DECORATORRETRYNODE_H 00015 #define DECORATORRETRYNODE_H 00016 00017 #include "behaviortree_cpp/decorator_node.h" 00018 00019 namespace BT 00020 { 00036 class RetryNode : public DecoratorNode 00037 { 00038 public: 00039 00040 RetryNode(const std::string& name, int NTries); 00041 00042 RetryNode(const std::string& name, const NodeConfiguration& config); 00043 00044 virtual ~RetryNode() override = default; 00045 00046 static PortsList providedPorts() 00047 { 00048 return { InputPort<int>(NUM_ATTEMPTS, 00049 "Execute again a failing child up to N times. " 00050 "Use -1 to create an infinite loop.") }; 00051 } 00052 00053 virtual void halt() override; 00054 00055 private: 00056 int max_attempts_; 00057 int try_index_; 00058 00059 bool read_parameter_from_ports_; 00060 static constexpr const char* NUM_ATTEMPTS = "num_attempts"; 00061 00062 virtual BT::NodeStatus tick() override; 00063 }; 00064 } 00065 00066 #endif