remove code duplication and fix mutex deadlock

Author: facontidavide

CMakeLists.txt

@@ -99,13 +99,12 @@ list(APPEND BT_SOURCE
     src/actions/sleep_node.cpp
 
     src/decorators/delay_node.cpp
+    src/decorators/entry_updated_nodes.cpp
     src/decorators/inverter_node.cpp
     src/decorators/repeat_node.cpp
     src/decorators/retry_node.cpp
-    src/decorators/timeout_node.cpp
-    src/decorators/skip_unless_updated.cpp
     src/decorators/subtree_node.cpp
-    src/decorators/wait_update.cpp
+    src/decorators/timeout_node.cpp
 
     src/controls/if_then_else_node.cpp
     src/controls/fallback_node.cpp

include/behaviortree_cpp/behavior_tree.h

@@ -33,8 +33,7 @@
 #include "behaviortree_cpp/decorators/run_once_node.h"
 #include "behaviortree_cpp/decorators/subtree_node.h"
 #include "behaviortree_cpp/decorators/loop_node.h"
-#include "behaviortree_cpp/decorators/skip_unless_updated.h"
-#include "behaviortree_cpp/decorators/wait_update.h"
+#include "behaviortree_cpp/decorators/entry_updated_nodes.h"
 
 #include "behaviortree_cpp/actions/always_success_node.h"
 #include "behaviortree_cpp/actions/always_failure_node.h"

include/behaviortree_cpp/decorators/skip_unless_updated.h renamed to include/behaviortree_cpp/decorators/entry_updated_nodes.h

@@ -16,31 +16,31 @@
 
 namespace BT
 {
-
 /**
- * @brief The SkipUnlessUpdated checks the Timestamp in an entry
+ * @brief The EntryUpdatedNode checks the Timestamp in an entry
  * to determine if the value was updated since the last time (true,
  * the first time).
  *
- * If it is, the child will be executed, otherwise SKIPPED is returned.
+ * If it is, the child will be executed, otherwise [if_not_updated] value is returned.
  */
-class SkipUnlessUpdated : public DecoratorNode
+class EntryUpdatedNode : public DecoratorNode
 {
 public:
-  SkipUnlessUpdated(const std::string& name, const NodeConfig& config);
+  EntryUpdatedNode(const std::string& name, const NodeConfig& config,
+                   NodeStatus if_not_updated);
 
-  ~SkipUnlessUpdated() override = default;
+  ~EntryUpdatedNode() override = default;
 
   static PortsList providedPorts()
   {
-    return { InputPort<BT::Any>("entry", "Skip this branch unless the blackboard value "
-                                         "was updated") };
+    return { InputPort<BT::Any>("entry", "Entry to check") };
   }
 
 private:
   int64_t sequence_id_ = -1;
   std::string entry_key_;
   bool still_executing_child_ = false;
+  NodeStatus if_not_updated_;
 
   NodeStatus tick() override;
 

include/behaviortree_cpp/decorators/wait_update.h

@@ -95,8 +95,8 @@ BehaviorTreeFactory::BehaviorTreeFactory() : _p(new PImpl)
   registerNodeType<LoopNode<double>>("LoopDouble");
   registerNodeType<LoopNode<std::string>>("LoopString");
 
-  registerNodeType<SkipUnlessUpdated>("SkipUnlessUpdated");
-  registerNodeType<WaitValueUpdate>("WaitValueUpdate");
+  registerNodeType<EntryUpdatedNode>("SkipUnlessUpdated", NodeStatus::SKIPPED);
+  registerNodeType<EntryUpdatedNode>("WaitValueUpdate", NodeStatus::RUNNING);
 
   for(const auto& it : _p->builders)
   {

src/bt_factory.cpp

@@ -10,13 +10,14 @@
 *   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/skip_unless_updated.h"
+#include "behaviortree_cpp/decorators/entry_updated_nodes.h"
 
 namespace BT
 {
 
-SkipUnlessUpdated::SkipUnlessUpdated(const std::string& name, const NodeConfig& config)
-  : DecoratorNode(name, config)
+EntryUpdatedNode::EntryUpdatedNode(const std::string& name, const NodeConfig& config,
+                                   NodeStatus if_not_updated)
+  : DecoratorNode(name, config), if_not_updated_(if_not_updated)
 {
   const auto entry_str = config.input_ports.at("entry");
   StringView stripped_key;
@@ -30,7 +31,7 @@ SkipUnlessUpdated::SkipUnlessUpdated(const std::string& name, const NodeConfig&
   }
 }
 
-NodeStatus SkipUnlessUpdated::tick()
+NodeStatus EntryUpdatedNode::tick()
 {
   // continue executing an asynchronous child
   if(still_executing_child_)
@@ -46,7 +47,7 @@ NodeStatus SkipUnlessUpdated::tick()
     auto seq = static_cast<int64_t>(entry->sequence_id);
     if(seq == sequence_id_)
     {
-      return NodeStatus::SKIPPED;
+      return if_not_updated_;
     }
     sequence_id_ = seq;
   }
@@ -56,7 +57,7 @@ NodeStatus SkipUnlessUpdated::tick()
   return status;
 }
 
-void SkipUnlessUpdated::halt()
+void EntryUpdatedNode::halt()
 {
   still_executing_child_ = false;
 }