action_node.h

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/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018-2020 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"),
*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
*   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:
*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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*/

#ifndef BEHAVIORTREECORE_ACTIONNODE_H
#define BEHAVIORTREECORE_ACTIONNODE_H

#include <atomic>
#include <thread>
#include <future>
#include "leaf_node.h"

namespace BT
{

// IMPORTANT: Actions which returned SUCCESS or FAILURE will not be ticked
// again unless setStatus(IDLE) is called first.
// Keep this in mind when writing your custom Control and Decorator nodes.


class ActionNodeBase : public LeafNode
{
  public:

    ActionNodeBase(const std::string& name, const NodeConfiguration& config);
    ~ActionNodeBase() override = default;

    virtual NodeType type() const override final
    {
        return NodeType::ACTION;
    }
};

class SyncActionNode : public ActionNodeBase
{
  public:

    SyncActionNode(const std::string& name, const NodeConfiguration& config);
    ~SyncActionNode() override = default;

    virtual NodeStatus executeTick() override;

    virtual void halt() override final
    {
        setStatus(NodeStatus::IDLE);
    }
};

class SimpleActionNode : public SyncActionNode
{
  public:
    typedef std::function<NodeStatus(TreeNode&)> TickFunctor;

    // You must provide the function to call when tick() is invoked
    SimpleActionNode(const std::string& name, TickFunctor tick_functor,
                     const NodeConfiguration& config);

    ~SimpleActionNode() override = default;

  protected:
    virtual NodeStatus tick() override final;

    TickFunctor tick_functor_;
};

class AsyncActionNode : public ActionNodeBase
{
  public:

    AsyncActionNode(const std::string& name, const NodeConfiguration& config):ActionNodeBase(name, config)
    {
    }

    bool isHaltRequested() const
    {
        return halt_requested_.load();
    }

    // This method spawn a new thread. Do NOT remove the "final" keyword.
    virtual NodeStatus executeTick() override final;

    virtual void halt() override;

  private:

    std::exception_ptr exptr_;
    std::atomic_bool halt_requested_;
    std::future<NodeStatus> thread_handle_;
};

class StatefulActionNode : public ActionNodeBase
{
  public:
      StatefulActionNode(const std::string& name, const NodeConfiguration& config):
        ActionNodeBase(name,config)
      {}

      // do not override this method
      NodeStatus tick() override final;
      // do not override this method
      void halt() override final;

      virtual NodeStatus onStart() = 0;

      virtual NodeStatus onRunning() = 0;

      virtual void onHalted() = 0;
};


#ifndef BT_NO_COROUTINES

class CoroActionNode : public ActionNodeBase
{
  public:

    CoroActionNode(const std::string& name, const NodeConfiguration& config);
    virtual ~CoroActionNode() override;

    void setStatusRunningAndYield();

    // This method triggers the TickEngine. Do NOT remove the "final" keyword.
    virtual NodeStatus executeTick() override final;

    void halt() override;

  protected:

    struct Pimpl; // The Pimpl idiom
    std::unique_ptr<Pimpl> _p;
};
#endif

}   //end namespace

#endif