Add more bt nodes

libs/bt/include/psemek/bt/action.hpp

@@ -0,0 +1,42 @@
+#pragma once
+
+#include <psemek/bt/node.hpp>
+
+#include <optional>
+
+namespace psemek::bt
+{
+
+	template <typename Tree, typename ActionFn>
+	struct action_node;
+
+	template <typename Time, typename Event, typename ... Args, typename ActionFn>
+	struct action_node<tree<Time, Event, Args...>, ActionFn>
+		: 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;
+
+		action_node(ActionFn && action_fn)
+			: action_fn_(std::move(action_fn))
+		{}
+
+		status update(Time dt, Args ... args) override
+		{
+			action_fn_(dt, args...);
+			return finished{true};
+		}
+
+	private:
+		ActionFn action_fn_;
+	};
+
+	template <typename Tree, typename ActionFn>
+	node_ptr<Tree> action(ActionFn && action_fn)
+	{
+		return std::make_unique<action_node<Tree, ActionFn>>(std::move(action_fn));
+	}
+
+}

libs/bt/include/psemek/bt/wait_until.hpp

@@ -0,0 +1,14 @@
+#pragma once
+
+#include <psemek/bt/retry.hpp>
+
+namespace psemek::bt
+{
+
+	template <typename Tree>
+	node_ptr<Tree> wait_until(node_ptr<Tree> child)
+	{
+		return retry<Tree>(std::move(child));
+	}
+
+}