timeout_node.cpp

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/*  Copyright (C) 2018-2019 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,
*   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,
*   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.
*/
#include "behaviortree_cpp/decorators/timeout_node.h"
#include "behaviortree_cpp/action_node.h"

namespace BT
{

TimeoutNode::TimeoutNode(const std::string& name, unsigned milliseconds)
  : DecoratorNode(name, {} ),
  child_halted_(false),
  timer_id_(0),
  msec_(milliseconds),
  read_parameter_from_ports_(false),
  timeout_started_(false)
{
    setRegistrationID("Timeout");
}

TimeoutNode::TimeoutNode(const std::string& name, const NodeConfiguration& config)
  : DecoratorNode(name, config),
    child_halted_(false),
    timer_id_(0),
    msec_(0),
    read_parameter_from_ports_(true),
    timeout_started_(false)
{
}

NodeStatus TimeoutNode::tick()
{
    if( read_parameter_from_ports_ )
    {
        if( !getInput("msec", msec_) )
        {
            throw RuntimeError("Missing parameter [msec] in TimeoutNode");
        }
    }

    if ( !timeout_started_ )
    {
        timeout_started_ = true;
        setStatus(NodeStatus::RUNNING);
        child_halted_ = false;

        if (msec_ > 0)
        {
            timer_id_ = timer_.add(std::chrono::milliseconds(msec_),
                                    [this](bool aborted)
            {
                std::unique_lock<std::mutex> lk( timeout_mutex_ );
                if (!aborted && child()->status() == NodeStatus::RUNNING)
                {
                    child_halted_ = true;
                    child()->halt();
                    child()->setStatus(NodeStatus::IDLE);
                }
            });
        }
    }

    std::unique_lock<std::mutex> lk( timeout_mutex_ );

    if (child_halted_)
    {
        timeout_started_ = false;
        return NodeStatus::FAILURE;
    }
    else
    {
        auto child_status = child()->executeTick();
        if (child_status != NodeStatus::RUNNING)
        {
            timeout_started_ = false;
            timeout_mutex_.unlock();
            timer_.cancel(timer_id_);
            timeout_mutex_.lock();
        }
        return child_status;
    }
}

}