21669518654

Committed 04 Feb 2026 11:22AM UTC coverage: 79.715% (-0.03%) from 79.742%

Build # 21669518654

Build Type

push

github

Committed by

facontidavide

Commit Message

Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP

Run Details

50 of 50 new or added lines in 1 file covered. (100.0%)

80 existing lines in 2 files now uncovered.

4692 of 5886 relevant lines covered (79.71%)

22434.13 hits per line

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76.74

/src/decorators/delay_node.cpp

/*  Contributed by Indraneel on 26/04/2020
 */

#include "behaviortree_cpp/decorators/delay_node.h"

namespace BT
{
DelayNode::DelayNode(const std::string& name, unsigned milliseconds)
  : DecoratorNode(name, {})
  , timer_id_(0)
  , msec_(milliseconds)
  , read_parameter_from_ports_(false)
{
  setRegistrationID("Delay");
}

DelayNode::DelayNode(const std::string& name, const NodeConfig& config)
  : DecoratorNode(name, config), timer_id_(0), msec_(0), read_parameter_from_ports_(true)
{}

void DelayNode::halt()
{
  delay_started_ = false;
  timer_.cancelAll();
  DecoratorNode::halt();
}

NodeStatus DelayNode::tick()
{
  if(read_parameter_from_ports_)
  {
    if(!getInput("delay_msec", msec_))
    {
      throw RuntimeError("Missing parameter [delay_msec] in DelayNode");
    }
  }

  if(!delay_started_)
  {
    delay_complete_ = false;
    delay_aborted_ = false;
    delay_started_ = true;
    setStatus(NodeStatus::RUNNING);

    timer_id_ = timer_.add(std::chrono::milliseconds(msec_), [this](bool aborted) {
      const std::unique_lock<std::mutex> lk(delay_mutex_);
      delay_complete_ = (!aborted);
      if(!aborted)
      {
        emitWakeUpSignal();
      }
    });
  }

  const std::unique_lock<std::mutex> lk(delay_mutex_);

  if(delay_aborted_)
  {
    delay_aborted_ = false;
    delay_started_ = false;
    return NodeStatus::FAILURE;
  }
  if(delay_complete_)
  {
    const NodeStatus child_status = child()->executeTick();
    if(isStatusCompleted(child_status))
    {
      delay_started_ = false;
      delay_aborted_ = false;
      resetChild();
    }
    return child_status;
  }
  return NodeStatus::RUNNING;
}

}  // namespace BT

1	/* Contributed by Indraneel on 26/04/2020
2	*/
3
4	#include "behaviortree_cpp/decorators/delay_node.h"
5
6	namespace BT
7	{
8	DelayNode::DelayNode(const std::string& name, unsigned milliseconds)	×
9	: DecoratorNode(name, {})
UNCOV 10	, timer_id_(0)	×
11	, msec_(milliseconds)	×
12	, read_parameter_from_ports_(false)	×
13	{
UNCOV 14	setRegistrationID("Delay");	×
UNCOV 15	}	×
16
17	DelayNode::DelayNode(const std::string& name, const NodeConfig& config)	3✔
18	: DecoratorNode(name, config), timer_id_(0), msec_(0), read_parameter_from_ports_(true)	3✔
19	{}	3✔
20
21	void DelayNode::halt()	7✔
22	{
23	delay_started_ = false;	7✔
24	timer_.cancelAll();	7✔
25	DecoratorNode::halt();	7✔
26	}	7✔
27
28	NodeStatus DelayNode::tick()	64✔
29	{
30	if(read_parameter_from_ports_)	64✔
31	{
32	if(!getInput("delay_msec", msec_))	192✔
33	{
UNCOV 34	throw RuntimeError("Missing parameter [delay_msec] in DelayNode");	×
35	}
36	}
37
38	if(!delay_started_)	64✔
39	{
40	delay_complete_ = false;	3✔
41	delay_aborted_ = false;	3✔
42	delay_started_ = true;	3✔
43	setStatus(NodeStatus::RUNNING);	3✔
44
45	timer_id_ = timer_.add(std::chrono::milliseconds(msec_), [this](bool aborted) {	3✔
46	const std::unique_lock<std::mutex> lk(delay_mutex_);	3✔
47	delay_complete_ = (!aborted);	3✔
48	if(!aborted)	3✔
49	{
50	emitWakeUpSignal();	3✔
51	}
52	});	3✔
53	}
54
55	const std::unique_lock<std::mutex> lk(delay_mutex_);	64✔
56
57	if(delay_aborted_)	64✔
58	{
UNCOV 59	delay_aborted_ = false;	×
UNCOV 60	delay_started_ = false;	×
UNCOV 61	return NodeStatus::FAILURE;	×
62	}
63	if(delay_complete_)	64✔
64	{
65	const NodeStatus child_status = child()->executeTick();	3✔
66	if(isStatusCompleted(child_status))	3✔
67	{
68	delay_started_ = false;	3✔
69	delay_aborted_ = false;	3✔
70	resetChild();	3✔
71	}
72	return child_status;	3✔
73	}
74	return NodeStatus::RUNNING;	61✔
75	}	64✔
76
77	} // namespace BT

BehaviorTree / BehaviorTree.CPP / 21669518654

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