Add sleep action

Signed-off-by: Gerson Fernando Budke <[email protected]>

include/zephyr/zephyrbt/zephyrbt.h

@@ -131,6 +131,13 @@ enum zephyrbt_child_status zephyrbt_action_always_success(struct zephyrbt_contex
 							  struct zephyrbt_node *self);
 enum zephyrbt_child_status zephyrbt_action_always_failure(struct zephyrbt_context *ctx,
 							  struct zephyrbt_node *self);
+enum zephyrbt_sleep_attributes {
+	ZEPHYRBT_SLEEP_ATTRIBUTE_MSEC,
+};
+enum zephyrbt_child_status zephyrbt_action_sleep(struct zephyrbt_context *ctx,
+						 struct zephyrbt_node *self);
+enum zephyrbt_child_status zephyrbt_action_sleep_init(struct zephyrbt_context *ctx,
+						      struct zephyrbt_node *self);
 enum zephyrbt_child_status zephyrbt_control_fallback(struct zephyrbt_context *ctx,
 						     struct zephyrbt_node *self);
 enum zephyrbt_child_status zephyrbt_control_sequence(struct zephyrbt_context *ctx,

scripts/generate-zephyrbt-from-behaviourtreecpp-xml

@@ -428,6 +428,8 @@ def main(zephyrbt_filename, output_inc, output_data, output_stub,
          stack, prio, user_file) -> None:
     zephyrbt = Path(zephyrbt_filename).stem
 
+    sleep =    [['msec', 'input_port', None, 'Wait the amount of milliseconds']]
+
     parallel = [['failure_count', 'input_port', '1', 'number of children which need to fail to trigger a FAILURE'],
                 ['success_count', 'input_port', '-1', 'number of children which need to succeed to trigger a SUCCESS']
                ]
@@ -439,6 +441,7 @@ def main(zephyrbt_filename, output_inc, output_data, output_stub,
     #                  node_name,     type, has_init, blackboard_attributes
     builtin = [('always_success', 'action',    False, []),
                ('always_failure', 'action',    False, []),
+               ('sleep',          'action',    True,  sleep),
                ('fallback',       'control',   False, []),
                ('sequence',       'control',   False, []),
                ('parallel',       'control',   True,  parallel),

subsys/zephyrbt/CMakeLists.txt

@@ -10,6 +10,7 @@ zephyr_sources_ifdef(CONFIG_ZEPHYR_BEHAVIOUR_TREE
 )
 
 zephyr_sources_ifdef(CONFIG_ZEPHYR_BEHAVIOUR_TREE_NODE_CONTEXT
+	zephyrbt_action_sleep.c
 	zephyrbt_decorator_delay.c
 	zephyrbt_decorator_run_once.c
 	zephyrbt_decorator_timeout.c

subsys/zephyrbt/zephyrbt_action_sleep.c

@@ -0,0 +1,63 @@
+/*
+ * Copyright (c) 2024 O.S. Systems Software LTDA.
+ * Copyright (c) 2024 Freedom Veiculos Eletricos
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/zephyrbt/zephyrbt.h>
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(zephyrbt_action_sleep, CONFIG_ZEPHYR_BEHAVIOUR_TREE_LOG_LEVEL);
+
+struct zephyrbt_action_sleep_context {
+	struct zephyrbt_blackboard_item *msec;
+};
+
+enum zephyrbt_child_status zephyrbt_action_sleep_init(struct zephyrbt_context *ctx,
+						      struct zephyrbt_node *self)
+{
+#if defined(CONFIG_ZEPHYR_BEHAVIOUR_TREE_NODE_INFO)
+	LOG_DBG("init: %s", self->name);
+#endif
+
+	struct zephyrbt_action_sleep_context *sleep;
+
+	sleep = k_malloc(sizeof(struct zephyrbt_action_sleep_context));
+	self->ctx = sleep;
+
+	if (sleep == NULL) {
+		LOG_ERR("Context can not be allocate.");
+		return ZEPHYRBT_CHILD_FAILURE_STATUS;
+	}
+
+	memset(sleep, 0, sizeof(struct zephyrbt_action_sleep_context));
+
+	sleep->msec = zephyrbt_search_blackboard(ctx, self->index, ZEPHYRBT_SLEEP_ATTRIBUTE_MSEC);
+
+	if (sleep->msec == NULL) {
+		LOG_ERR("Invalid sleep msec value.");
+		return ZEPHYRBT_CHILD_FAILURE_STATUS;
+	}
+
+	return ZEPHYRBT_CHILD_SUCCESS_STATUS;
+}
+
+enum zephyrbt_child_status zephyrbt_action_sleep(struct zephyrbt_context *ctx,
+						 struct zephyrbt_node *self)
+{
+#if defined(CONFIG_ZEPHYR_BEHAVIOUR_TREE_NODE_INFO)
+	LOG_DBG("%s", self->name);
+#endif
+
+	struct zephyrbt_action_sleep_context *sleep;
+	sleep = (struct zephyrbt_action_sleep_context *)self->ctx;
+
+	if (sleep == NULL) {
+		LOG_ERR("Undefined behaviour on zephyrbt_action_sleep.");
+		return ZEPHYRBT_CHILD_FAILURE_STATUS;
+	}
+
+	k_msleep((uintptr_t)sleep->msec->item);
+
+	return ZEPHYRBT_CHILD_SUCCESS_STATUS;
+}