Program Listing for File check_timeout_node.hpp
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// Copyright 2020 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef PLANSYS2_EXECUTOR__BEHAVIOR_TREE__CHECK_TIMEOUT_NODE_HPP_
#define PLANSYS2_EXECUTOR__BEHAVIOR_TREE__CHECK_TIMEOUT_NODE_HPP_
#include <map>
#include <string>
#include <memory>
#include "behaviortree_cpp_v3/action_node.h"
#include "plansys2_problem_expert/ProblemExpertClient.hpp"
#include "plansys2_executor/ActionExecutor.hpp"
#include "plansys2_problem_expert/Utils.hpp"
#include "plansys2_executor/behavior_tree/execute_action_node.hpp"
namespace plansys2
{
class CheckTimeout : public BT::ActionNodeBase
{
public:
CheckTimeout(
const std::string & xml_tag_name,
const BT::NodeConfiguration & conf);
void halt() {}
BT::NodeStatus tick() override;
static BT::PortsList providedPorts()
{
return BT::PortsList(
{
BT::InputPort<std::string>("action", "Action whose over all reqs must stop"),
});
}
private:
std::chrono::high_resolution_clock::time_point start_;
std::shared_ptr<std::map<std::string, ActionExecutionInfo>> action_map_;
std::shared_ptr<plansys2::ProblemExpertClient> problem_client_;
};
} // namespace plansys2
#endif // PLANSYS2_EXECUTOR__BEHAVIOR_TREE__CHECK_TIMEOUT_NODE_HPP_