sleep_node.h

#pragma once
 
#include "behaviortree_cpp/action_node.h"
#include "behaviortree_cpp/utils/timer_queue.h"
 
#include <atomic>
 
namespace BT
{
/**
 * @brief Sleep for a certain amount of time.
 * Consider also using the decorator <Delay/>
 *
 * <Sleep msec="5000"/>
 */
class SleepNode : public StatefulActionNode
{
public:
  SleepNode(const std::string& name, const NodeConfig& config);
 
  ~SleepNode() override
  {
    halt();
  }
 
  SleepNode(const SleepNode&) = delete;
  SleepNode& operator=(const SleepNode&) = delete;
  SleepNode(SleepNode&&) = delete;
  SleepNode& operator=(SleepNode&&) = delete;
 
  NodeStatus onStart() override;
 
  NodeStatus onRunning() override;
 
  void onHalted() override;
 
  static PortsList providedPorts()
  {
    return { InputPort<unsigned>("msec") };
  }
 
private:
  TimerQueue<> timer_;
  uint64_t timer_id_ = 0;
 
  std::atomic_bool timer_waiting_ = false;
  std::mutex delay_mutex_;
};
 
}  // namespace BT