text: /* Copyright (C) (YEAR) YOUR NAME- All Rights Reserved
  *
  *   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
  *   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
  *   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
  *   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
  *
  *   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  *   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
  *   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
  
  
  #include <HEADER.h>
  #include <string>
  BT::CLASSNAME::CONSTRUCTOR(std::string name) : ActionNode::ActionNode(name)
  {
      thread_ = std::thread(&ActionTestNode::WaitForTick, this);
  }
  
  BT::CLASSNAME::~CONSTRUCTOR() {}
  
  void BT::CLASSNAME::WaitForTick()
  {
      while (true)
      {
          // Waiting for the first tick to come
          DEBUG_STDOUT(get_name() << " WAIT FOR TICK");
  
          tick_engine.Wait();
          DEBUG_STDOUT(get_name() << " TICK RECEIVED");
  
          // Running state
          set_status(BT::RUNNING);
          // Perform action...
  
          while (get_status() != BT::HALTED)
          {
  	/*HERE THE CODE TO EXECUTE FOR THE ACTION.
  	 wHEN THE ACTION HAS FINISHED CORRECLTY, CALL set_status(BT::SUCCESS)
  	IF THE ACTION FAILS, CALL set_status(BT::FAILURE)*/			
          }
      }
  }
  
  void BT::CLASSNAME::Halt()
  {
      /*HERE THE CODE TO PERFORM WHEN THE ACTION IS HALTED*/
      set_status(BT::HALTED);
      DEBUG_STDOUT("HALTED state set!");
  }
  
  
  