repeat_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
*
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*
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#ifndef DECORATOR_REPEAT_NODE_H
#define DECORATOR_REPEAT_NODE_H

#include "behaviortree_cpp_v3/decorator_node.h"

namespace BT
{
class RepeatNode : public DecoratorNode
{
  public:

    RepeatNode(const std::string& name, int NTries);

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

    virtual ~RepeatNode() override = default;

    static PortsList providedPorts()
    {
        return { InputPort<int>(NUM_CYCLES,
                                "Repeat a succesful child up to N times. "
                               "Use -1 to create an infinite loop.") };
    }

  private:
    int num_cycles_;
    int try_index_;

    bool read_parameter_from_ports_;
    static constexpr const char* NUM_CYCLES = "num_cycles";

    virtual NodeStatus tick() override;

    void halt() override;
};

}

#endif