delay_node.cpp

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/*  Contributed by Indraneel on 26/04/2020
*/
#include "behaviortree_cpp_v3/decorators/delay_node.h"
#include "behaviortree_cpp_v3/action_node.h"

namespace BT
{
DelayNode::DelayNode(const std::string& name, unsigned milliseconds)
  : DecoratorNode(name, {})
  , delay_started_(false)
  , delay_aborted_(false)
  , msec_(milliseconds)
  , read_parameter_from_ports_(false)
{
    setRegistrationID("Delay");
}

DelayNode::DelayNode(const std::string& name, const NodeConfiguration& config)
  : DecoratorNode(name, config)
  , delay_started_(false)
  , delay_aborted_(false)
  , msec_(0)
  , read_parameter_from_ports_(true)
{
}

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

    if (!delay_started_)
    {
        delay_complete_ = false;
        delay_aborted_ = false;
        delay_started_ = true;
        setStatus(NodeStatus::RUNNING);

        timer_id_ = timer_.add(std::chrono::milliseconds(msec_),
                               [this](bool aborted)
        {
            std::unique_lock<std::mutex> lk(delay_mutex_);
            if (!aborted)
            {
                delay_complete_ = true;
            }
            else
            {
                delay_aborted_ = true;
            }
        });
    }

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

    if (delay_aborted_)
    {
        delay_aborted_ = false;
        delay_started_ = false;
        return NodeStatus::FAILURE;
    }
    else if (delay_complete_)
    {
        delay_started_ = false;
        delay_aborted_ = false;
        auto child_status = child()->executeTick();
        return child_status;
    }
    else
    {
        return NodeStatus::RUNNING;
    }
}

}   // namespace BT