Add bt timeout node

libs/bt/include/psemek/bt/timeout.hpp

@@ -0,0 +1,81 @@
+#pragma once
+
+#include <psemek/bt/node.hpp>
+
+namespace psemek::bt
+{
+
+	template <typename Tree, typename DurationFn>
+	struct timeout_node;
+
+	template <typename Time, typename Event, typename ... Args, typename DurationFn>
+	struct timeout_node<tree<Time, Event, Args...>, DurationFn>
+		: node<tree<Time, Event, Args...>>
+	{
+		using tree_type = tree<Time, Event, Args...>;
+		using node_type = node<tree_type>;
+		using typename node_type::finished;
+		using typename node_type::status;
+
+		timeout_node(node_ptr<tree_type> child, DurationFn && duration_fn)
+			: child_(std::move(child))
+			, duration_fn_(std::move(duration_fn))
+		{}
+
+		void start(Args ... args) override
+		{
+			timer_ = duration_fn_(args...);
+			child_->start(args...);
+		}
+
+		status update(Time dt, Args ... args) override
+		{
+			timer_ -= dt;
+			if (timer_ <= Time{0})
+				return finished{false};
+
+			return child_->update(dt, args...);
+		}
+
+		bool event(Event const & event, Args ... args) override
+		{
+			return child_->event(event, args...);
+		}
+
+	private:
+		node_ptr<tree<Time, Event, Args...>> child_;
+		DurationFn duration_fn_;
+		Time timer_ = Time{};
+	};
+
+	namespace detail
+	{
+
+		template <typename Tree, typename DurationFn>
+		struct timeout_helper
+		{
+			static node_ptr<Tree> make(node_ptr<Tree> child, DurationFn && duration_fn)
+			{
+				return std::make_unique<timeout_node<Tree, DurationFn>>(std::move(child), std::move(duration_fn));
+			}
+		};
+
+		template <typename Time, typename Event, typename ... Args>
+		struct timeout_helper<tree<Time, Event, Args...>, Time>
+		{
+			static node_ptr<tree<Time, Event, Args...>> make(node_ptr<tree<Time, Event, Args...>> child, Time duration)
+			{
+				auto duration_fn = [duration](Args ...){ return duration; };
+				return std::make_unique<timeout_node<tree<Time, Event, Args...>, decltype(duration_fn)>>(std::move(child), std::move(duration_fn));
+			}
+		};
+
+	}
+
+	template <typename Tree, typename DurationFn>
+	node_ptr<Tree> timeout(node_ptr<Tree> child, DurationFn && duration_fn)
+	{
+		return detail::timeout_helper<Tree, DurationFn>::make(std::move(child), std::move(duration_fn));
+	}
+
+}