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timeout_node.cpp
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81 lines (72 loc) · 2.56 KB
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/* Copyright (C) 2018-2025 Davide Faconti - All Rights Reserved
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include "behaviortree_cpp/decorators/timeout_node.h"
namespace BT
{
NodeStatus TimeoutNode::tick()
{
if(read_parameter_from_ports_)
{
if(!getInput("msec", msec_))
{
throw RuntimeError("Missing parameter [msec] in TimeoutNode");
}
}
if(!timeout_started_)
{
timeout_started_ = true;
setStatus(NodeStatus::RUNNING);
child_halted_ = false;
if(msec_ > 0)
{
timer_id_ = timer_.add(std::chrono::milliseconds(msec_), [this](bool aborted) {
// Return immediately if the timer was aborted.
// This function could be invoked during destruction of this object and
// we don't want to access member variables if not needed.
if(aborted)
{
return;
}
const std::unique_lock<std::mutex> lk(timeout_mutex_);
if(child()->status() == NodeStatus::RUNNING)
{
child_halted_ = true;
haltChild();
emitWakeUpSignal();
}
});
}
}
std::unique_lock<std::mutex> lk(timeout_mutex_);
if(child_halted_)
{
timeout_started_ = false;
return NodeStatus::FAILURE;
}
const NodeStatus child_status = child()->executeTick();
if(isStatusCompleted(child_status))
{
timeout_started_ = false;
lk.unlock();
timer_.cancel(timer_id_);
lk.lock();
resetChild();
}
return child_status;
}
void TimeoutNode::halt()
{
timeout_started_ = false;
timer_.cancelAll();
DecoratorNode::halt();
}
} // namespace BT