timeout_node.h

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#ifndef DECORATOR_TIMEOUT_NODE_H
#define DECORATOR_TIMEOUT_NODE_H

#include "behaviortree_cpp/decorator_node.h"
#include <atomic>
#include "timer_queue.h"

namespace BT
{
class TimeoutNode : public DecoratorNode
{
  public:
    TimeoutNode(const std::string& name, unsigned milliseconds);

    TimeoutNode(const std::string& name, const NodeParameters& params);

    static const NodeParameters& requiredNodeParameters()
    {
        static NodeParameters params = {{"msec", "0"}};
        return params;
    }

  private:
    static TimerQueue& timer()
    {
        static TimerQueue timer_queue;
        return timer_queue;
    }

    virtual BT::NodeStatus tick() override;

    std::atomic<bool> child_halted_;
    uint64_t timer_id_;

    unsigned msec_;
    bool read_parameter_from_blackboard_;
};
}

#endif   // DEADLINE_NODE_H