crossdoor_nodes.h

#pragma once

#include "behaviortree_cpp/bt_factory.h"

class CrossDoor
{
public:
  void registerNodes(BT::BehaviorTreeFactory& factory);

  void reset();

  // SUCCESS if _door_open == true
  BT::NodeStatus isDoorClosed();

  // SUCCESS if _door_open == true
  BT::NodeStatus passThroughDoor();

  // After 3 attempts, will open a locked door
  BT::NodeStatus pickLock();

  // FAILURE if door locked
  BT::NodeStatus openDoor();

  // WILL always open a door
  BT::NodeStatus smashDoor();

private:
  bool _door_open = false;
  bool _door_locked = true;
  int _pick_attempts = 0;
};