subtree_node.h

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#ifndef DECORATOR_SUBTREE_NODE_H
#define DECORATOR_SUBTREE_NODE_H

#include "behaviortree_cpp_v3/decorator_node.h"

namespace BT
{

class SubtreeNode : public DecoratorNode
{
  public:
    SubtreeNode(const std::string& name);

    virtual ~SubtreeNode() override = default;

  private:
    virtual BT::NodeStatus tick() override;

    static PortsList providedPorts()
    {
        return { InputPort<bool>("__shared_blackboard", false,
                                 "If false (default) the subtree has its own blackboard and you"
                                 "need to do port remapping to connect it to the parent") };
    }

    virtual NodeType type() const override final
    {
        return NodeType::SUBTREE;
    }
};



class SubtreePlusNode : public DecoratorNode
{
public:
  SubtreePlusNode(const std::string& name);

  virtual ~SubtreePlusNode() override = default;

private:
  virtual BT::NodeStatus tick() override;

  static PortsList providedPorts()
  {
      return { InputPort<bool>("__autoremap", false,
                               "If true, all the ports with the same name will be remapped") };
  }

  virtual NodeType type() const override final
  {
    return NodeType::SUBTREE;
  }
};



}

#endif   // DECORATOR_SUBTREE_NODE_H