From fbf21cbdec88e55781b2430f20f852f47c3fd4a1 Mon Sep 17 00:00:00 2001
From: lisyarus <lisyarus@gmail.com>
Date: Tue, 21 Jun 2022 16:31:47 +0300
Subject: [PATCH] Add more bt nodes

---
 libs/bt/include/psemek/bt/action.hpp     | 42 ++++++++++++++++++++++++
 libs/bt/include/psemek/bt/wait_until.hpp | 14 ++++++++
 2 files changed, 56 insertions(+)
 create mode 100644 libs/bt/include/psemek/bt/action.hpp
 create mode 100644 libs/bt/include/psemek/bt/wait_until.hpp

diff --git a/libs/bt/include/psemek/bt/action.hpp b/libs/bt/include/psemek/bt/action.hpp
new file mode 100644
index 00000000..7cf6dedb
--- /dev/null
+++ b/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));
+	}
+
+}
diff --git a/libs/bt/include/psemek/bt/wait_until.hpp b/libs/bt/include/psemek/bt/wait_until.hpp
new file mode 100644
index 00000000..e4b79fcf
--- /dev/null
+++ b/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));
+	}
+
+}