action_node.h

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/* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018-2020 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.
*
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*   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.
*/

#ifndef BEHAVIORTREECORE_ACTIONNODE_H
#define BEHAVIORTREECORE_ACTIONNODE_H

#include <atomic>
#include <thread>
#include <future>
#include <mutex>

#include "leaf_node.h"

namespace BT
{
// IMPORTANT: Actions which returned SUCCESS or FAILURE will not be ticked
// again unless resetStatus() is called first.
// Keep this in mind when writing your custom Control and Decorator nodes.

class ActionNodeBase : public LeafNode
{
public:
  ActionNodeBase(const std::string& name, const NodeConfiguration& config);
  ~ActionNodeBase() override = default;

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

class SyncActionNode : public ActionNodeBase
{
public:
  SyncActionNode(const std::string& name, const NodeConfiguration& config);
  ~SyncActionNode() override = default;

  virtual NodeStatus executeTick() override;

  virtual void halt() override final
  {}
};

class SimpleActionNode : public SyncActionNode
{
public:
  typedef std::function<NodeStatus(TreeNode&)> TickFunctor;

  // You must provide the function to call when tick() is invoked
  SimpleActionNode(const std::string& name, TickFunctor tick_functor,
                   const NodeConfiguration& config);

  ~SimpleActionNode() override = default;

protected:
  virtual NodeStatus tick() override final;

  TickFunctor tick_functor_;
};

class AsyncActionNode : public ActionNodeBase
{
public:
  AsyncActionNode(const std::string& name, const NodeConfiguration& config) :
    ActionNodeBase(name, config)
  {}

  bool isHaltRequested() const
  {
    return halt_requested_.load();
  }

  // This method spawn a new thread. Do NOT remove the "final" keyword.
  virtual NodeStatus executeTick() override final;

  virtual void halt() override;

private:
  std::exception_ptr exptr_;
  std::atomic_bool halt_requested_;
  std::future<void> thread_handle_;
  std::mutex mutex_;
};

class StatefulActionNode : public ActionNodeBase
{
public:
  StatefulActionNode(const std::string& name, const NodeConfiguration& config) :
    ActionNodeBase(name, config)
  {}

  // do not override this method
  NodeStatus tick() override final;
  // do not override this method
  void halt() override final;

  virtual NodeStatus onStart() = 0;

  virtual NodeStatus onRunning() = 0;

  virtual void onHalted() = 0;
};

#ifndef BT_NO_COROUTINES

class CoroActionNode : public ActionNodeBase
{
public:
  CoroActionNode(const std::string& name, const NodeConfiguration& config);
  virtual ~CoroActionNode() override;

  void setStatusRunningAndYield();

  // This method triggers the TickEngine. Do NOT remove the "final" keyword.
  virtual NodeStatus executeTick() override final;

  void halt() override;

protected:
  struct Pimpl;   // The Pimpl idiom
  std::unique_ptr<Pimpl> _p;
};
#endif

}   // namespace BT

#endif