// 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");

}