Added async_is_tree_start and async_is_tree_stop

include/iri_bt_basic_nodes.h

@@ -39,7 +39,9 @@ class IriBTBasicNodes
     BT::NodeStatus NOP(void);
     // functions to check whether start or restart have been demanded by the user
     BT::NodeStatus is_not_start_tree(void);
+    BT::NodeStatus async_is_start_tree(void);
     BT::NodeStatus is_not_stop_tree(void);
+    BT::NodeStatus async_is_stop_tree(void);
 
     // functions set start or restart variables
     BT::NodeStatus set_start_tree(void);

src/iri_bt_basic_nodes.cpp

@@ -12,7 +12,9 @@ void IriBTBasicNodes::init(IriBehaviorTreeFactory &factory)
   factory.registerIriAsyncAction("NOP",  std::bind(&IriBTBasicNodes::NOP, this));
 
   factory.registerSimpleCondition("is_not_start_tree",  std::bind(&IriBTBasicNodes::is_not_start_tree, this));
+  factory.registerIriAsyncAction("async_is_start_tree",  std::bind(&IriBTBasicNodes::async_is_start_tree, this));
   factory.registerSimpleCondition("is_not_stop_tree",  std::bind(&IriBTBasicNodes::is_not_stop_tree, this));
+  factory.registerIriAsyncAction("async_is_stop_tree",  std::bind(&IriBTBasicNodes::async_is_stop_tree, this));
 
   factory.registerSimpleAction("set_start_tree",  std::bind(&IriBTBasicNodes::set_start_tree, this));
   factory.registerSimpleAction("set_stop_tree",  std::bind(&IriBTBasicNodes::set_stop_tree, this));
@@ -33,6 +35,14 @@ BT::NodeStatus IriBTBasicNodes::is_not_start_tree(void)
     return BT::NodeStatus::SUCCESS;
 }
 
+BT::NodeStatus IriBTBasicNodes::async_is_start_tree(void)
+{
+  if(this->tree_start)
+    return BT::NodeStatus::SUCCESS;
+  else
+    return BT::NodeStatus::RUNNING;
+}
+
 BT::NodeStatus IriBTBasicNodes::is_not_stop_tree(void)
 {
   if(this->tree_stop)
@@ -41,6 +51,14 @@ BT::NodeStatus IriBTBasicNodes::is_not_stop_tree(void)
     return BT::NodeStatus::SUCCESS;
 }
 
+BT::NodeStatus IriBTBasicNodes::async_is_stop_tree(void)
+{
+  if(this->tree_stop)
+    return BT::NodeStatus::SUCCESS;
+  else
+    return BT::NodeStatus::RUNNING;
+}
+
 BT::NodeStatus IriBTBasicNodes::set_start_tree(void)
 {
   this->tree_start=true;