From 86ac6d8cc1eda87771ca2bf575e8055607c295a1 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Tue, 6 Apr 2021 14:31:12 +0200
Subject: [PATCH] Added async_is_tree_start and async_is_tree_stop
---
include/iri_bt_basic_nodes.h | 2 ++
src/iri_bt_basic_nodes.cpp | 18 ++++++++++++++++++
2 files changed, 20 insertions(+)
diff --git a/include/iri_bt_basic_nodes.h b/include/iri_bt_basic_nodes.h
index c7b0e57..d26eaaa 100644
--- a/include/iri_bt_basic_nodes.h
+++ b/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);
diff --git a/src/iri_bt_basic_nodes.cpp b/src/iri_bt_basic_nodes.cpp
index dbf6640..e0efa60 100644
--- a/src/iri_bt_basic_nodes.cpp
+++ b/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;
--
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