parallel_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"),
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*
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#ifndef PARALLEL_NODE_H
#define PARALLEL_NODE_H

#include <set>
#include "behaviortree_cpp_v3/control_node.h"

namespace BT
{

class ParallelNode : public ControlNode
{
  public:

    ParallelNode(const std::string& name, unsigned success_threshold,
                 unsigned failure_threshold = 1);

    ParallelNode(const std::string& name, const NodeConfiguration& config);

    static PortsList providedPorts()
    {
        return { InputPort<unsigned>(THRESHOLD_SUCCESS, "number of childen which need to succeed to trigger a SUCCESS" ),
                 InputPort<unsigned>(THRESHOLD_FAILURE, 1, "number of childen which need to fail to trigger a FAILURE" ) };
    }

    ~ParallelNode() = default;

    virtual void halt() override;

    unsigned int thresholdM();
    unsigned int thresholdFM();
    void setThresholdM(unsigned int threshold_M);
    void setThresholdFM(unsigned int threshold_M);

  private:
    unsigned int success_threshold_;
    unsigned int failure_threshold_;

    std::set<int> skip_list_;

    bool read_parameter_from_ports_;
    static constexpr const char* THRESHOLD_SUCCESS = "success_threshold";
    static constexpr const char* THRESHOLD_FAILURE = "failure_threshold";

    virtual BT::NodeStatus tick() override;
};

}
#endif   // PARALLEL_NODE_H