From 0f9ebb2d75ef91e9b06792ad12322561ecac0bb5 Mon Sep 17 00:00:00 2001
From: Gregory LeMasurier <gregorylemasurier@gmail.com>
Date: Thu, 18 Apr 2024 15:10:14 -0400
Subject: [PATCH] Add interaction node

---
 include/behaviortree_cpp/action_node.h      |  2 +-
 include/behaviortree_cpp/basic_types.h      |  1 +
 include/behaviortree_cpp/interaction_node.h | 25 +++++++++++++++++++++
 src/interaction_node.cpp                    |  8 +++++++
 4 files changed, 35 insertions(+), 1 deletion(-)
 create mode 100644 include/behaviortree_cpp/interaction_node.h
 create mode 100644 src/interaction_node.cpp

diff --git a/include/behaviortree_cpp/action_node.h b/include/behaviortree_cpp/action_node.h
index 3f9b64bf4..aeaede736 100644
--- a/include/behaviortree_cpp/action_node.h
+++ b/include/behaviortree_cpp/action_node.h
@@ -38,7 +38,7 @@ class ActionNodeBase : public LeafNode
   ActionNodeBase(const std::string& name, const NodeConfig& config);
   ~ActionNodeBase() override = default;
 
-  virtual NodeType type() const override final
+  virtual NodeType type() const override
   {
     return NodeType::ACTION;
   }
diff --git a/include/behaviortree_cpp/basic_types.h b/include/behaviortree_cpp/basic_types.h
index a51a1164c..cd191630d 100644
--- a/include/behaviortree_cpp/basic_types.h
+++ b/include/behaviortree_cpp/basic_types.h
@@ -21,6 +21,7 @@ enum class NodeType
 {
   UNDEFINED = 0,
   ACTION,
+  INTERACTION,
   CONDITION,
   ASSUMPTIONCHECKER,
   CONTROL,
diff --git a/include/behaviortree_cpp/interaction_node.h b/include/behaviortree_cpp/interaction_node.h
new file mode 100644
index 000000000..b00d2edcf
--- /dev/null
+++ b/include/behaviortree_cpp/interaction_node.h
@@ -0,0 +1,25 @@
+#ifndef INTERACTIONNODE_H
+#define INTERACTIONNODE_H
+
+#include "leaf_node.h"
+#include "behaviortree_cpp/action_node.h"
+
+namespace BT
+{
+class InteractionNode : public SyncActionNode
+{
+public:
+  InteractionNode(const std::string& name, const NodeConfig& config);
+  ~InteractionNode() override = default;
+
+  /// throws if the derived class return RUNNING.
+  virtual NodeStatus executeTick() override;
+
+  virtual NodeType type() const override final
+  {
+    return NodeType::INTERACTION;
+  }
+};
+}  // namespace BT
+
+#endif
diff --git a/src/interaction_node.cpp b/src/interaction_node.cpp
new file mode 100644
index 000000000..b45de333b
--- /dev/null
+++ b/src/interaction_node.cpp
@@ -0,0 +1,8 @@
+#include "behaviortree_cpp/interaction_node.h"
+
+namespace BT
+{
+InteractionNode::InteractionNode(const std::string& name, const NodeConfig& config)
+  : SyncActionNode(name, config)
+{}
+}
\ No newline at end of file