delay_node.h

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#ifndef DECORATOR_DELAY_NODE_H
#define DECORATOR_DELAY_NODE_H

#include "behaviortree_cpp_v3/decorator_node.h"
#include <atomic>
#include "timer_queue.h"

namespace BT
{
class DelayNode : public DecoratorNode
{
  public:
    DelayNode(const std::string& name, unsigned milliseconds);

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

    ~DelayNode() override
    {
        halt();
    }

    static PortsList providedPorts()
    {
        return {InputPort<unsigned>("delay_msec", "Tick the child after a few milliseconds")};
    }
    void halt() override
    {
        delay_started_ = false;
        timer_.cancelAll();
        DecoratorNode::halt();
    }

  private:
    TimerQueue<> timer_;
    uint64_t timer_id_;

    virtual BT::NodeStatus tick() override;

    bool delay_started_;
    bool delay_complete_;
    bool delay_aborted_;
    unsigned msec_;
    bool read_parameter_from_ports_;
    std::mutex delay_mutex_;
};

}   // namespace BT

#endif   // DELAY_NODE_H