single_trigger_node.cpp

// Copyright (c) 2021 Samsung Research America
//
// 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.
 
#include <chrono>
#include <string>
 
#include "nav2_behavior_tree/plugins/decorator/single_trigger_node.hpp"
 
namespace nav2_behavior_tree
{
 
SingleTrigger::SingleTrigger(
  const std::string & name,
  const BT::NodeConfiguration & conf)
: BT::DecoratorNode(name, conf),
  first_time_(true)
{
}
 
BT::NodeStatus SingleTrigger::tick()
{
  if (!BT::isStatusActive(status())) {
    first_time_ = true;
  }
 
  setStatus(BT::NodeStatus::RUNNING);
 
  if (first_time_) {
    const BT::NodeStatus child_state = child_node_->executeTick();
 
    switch (child_state) {
      case BT::NodeStatus::SKIPPED:
      case BT::NodeStatus::RUNNING:
        return child_state;
 
      case BT::NodeStatus::FAILURE:
      case BT::NodeStatus::SUCCESS:
        first_time_ = false;
        return child_state;
 
      default:
        first_time_ = false;
        return BT::NodeStatus::FAILURE;
    }
  }
 
  return BT::NodeStatus::FAILURE;
}
 
}  // namespace nav2_behavior_tree
 
#include "behaviortree_cpp/bt_factory.h"
BT_REGISTER_NODES(factory)
{
  factory.registerNodeType<nav2_behavior_tree::SingleTrigger>("SingleTrigger");
}