manual_node.h

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/* Copyright (C) 2020 Davide Faconti -  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.
*
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*/

#ifndef MANUAL_SELECTION_NODE_H
#define MANUAL_SELECTION_NODE_H

#include "behaviortree_cpp_v3/control_node.h"

namespace BT
{
class ManualSelectorNode : public ControlNode
{
  public:
    ManualSelectorNode(const std::string& name, const NodeConfiguration& config);

    virtual ~ManualSelectorNode() override = default;

    virtual void halt() override;

    static PortsList providedPorts()
    {
        return { InputPort<bool>(REPEAT_LAST_SELECTION, false,
                                 "If true, execute again the same child that was selected the last time") };
    }

  private:

    static constexpr const char* REPEAT_LAST_SELECTION = "repeat_last_selection";

    virtual BT::NodeStatus tick() override;
    int running_child_idx_;
    int previously_executed_idx_;

    enum NumericarStatus{
        NUM_SUCCESS = 253,
        NUM_FAILURE = 254,
        NUM_RUNNING = 255,
    };

    NodeStatus selectStatus() const;

    uint8_t selectChild() const;
};

}

#endif // MANUAL_SELECTION_NODE_H