00001 /* Copyright (C) 2015-2017 Michele Colledanchise - All Rights Reserved 00002 * 00003 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), 00004 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 00005 * 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: 00006 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. 00007 * 00008 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00009 * 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, 00010 * 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. 00011 */ 00012 00013 #ifndef ACTION_NODE_H 00014 #define ACTION_NODE_H 00015 00016 #include <leaf_node.h> 00017 #include <string> 00018 namespace BT 00019 { 00020 00021 class ActionNode : public LeafNode 00022 { 00023 public: 00024 // Constructor 00025 explicit ActionNode(std::string name); 00026 ~ActionNode(); 00027 00028 // The method that is going to be executed by the thread 00029 virtual void WaitForTick() = 0; 00030 BT::ReturnStatus Tick(); 00031 00032 // The method used to interrupt the execution of the node 00033 virtual void Halt() = 0; 00034 00035 // Methods used to access the node state without the 00036 // conditional waiting (only mutual access) 00037 bool WriteState(ReturnStatus new_state); 00038 int DrawType(); 00039 }; 00040 } // namespace BT 00041 00042 #endif // ACTION_NODE_H