#include "behaviortree_cpp/decorators/subtree_node.h"

BT::SubTreeNode::SubTreeNode(const std::string& name, const NodeConfig& config)

: DecoratorNode(name, config)

{

setRegistrationID("SubTree");

}

BT::PortsList BT::SubTreeNode::providedPorts()

{

auto port =

PortInfo(PortDirection::INPUT, typeid(bool), GetAnyFromStringFunctor<bool>());

port.setDefaultValue(false);

port.setDescription("If true, all the ports with the same name "

"will be remapped");

return { { "_autoremap", port } };

}

BT::NodeStatus BT::SubTreeNode::tick()

{

const NodeStatus prev_status = status();

if(prev_status == NodeStatus::IDLE)

{

setStatus(NodeStatus::RUNNING);

}

const NodeStatus child_status = child_node_->executeTick();

if(isStatusCompleted(child_status))

{

resetChild();

}

return child_status;

}