Add Drive node implementation

app/other/behaviour_tree_car/include/behaviour_tree/node/custom/action/Drive.hpp

@@ -0,0 +1,83 @@
+#ifndef BEHAVIOUR_TREE_DRIVE_HPP
+#define BEHAVIOUR_TREE_DRIVE_HPP
+
+#pragma once
+
+#include "behaviour_tree/node/custom/CustomNode.hpp"
+
+#include "behaviour_tree/Context.h"
+#ifndef BEHAVIOUR_TREE_DISABLE_RUN
+#include "behaviour_tree/CarContext.hpp"
+#endif // !BEHAVIOUR_TREE_DISABLE_RUN
+
+#include "enum/DirectionType.hpp"
+
+namespace behaviour_tree::node::custom::action
+{
+    class Drive final : public CustomNode
+    {
+    public:
+        Drive(const std::string &name, const int speed, const DirectionType &direction_type) : CustomNode(name), speed(speed), direction_type(direction_type)
+        {
+        }
+
+        const Status run(const int tick_count, std::shared_ptr<Context> context) final override
+        {
+#ifndef BEHAVIOUR_TREE_DISABLE_RUN
+            std::shared_ptr<CarContext> car_context = std::dynamic_pointer_cast<CarContext>(context);
+            auto car_system = car_context->getCarSystem();
+            const MovementSystem *movement_system = car_system->getMovementSystem();
+            switch (this->getDirectionType())
+            {
+            case DirectionType::Backward:
+            {
+                movement_system->setRearWheelsDirectionToBackward();
+                break;
+            }
+            case DirectionType::Forward:
+            {
+                movement_system->setRearWheelsDirectionToForward();
+                break;
+            }
+            }
+            movement_system->setRearWheelsSpeed(this->getSpeed());
+#endif // !BEHAVIOUR_TREE_DISABLE_RUN
+            return Status::Success;
+        }
+
+        const std::string toString() const final override
+        {
+            const std::string &name = this->getName();
+            std::string direction_type;
+            switch (this->getDirectionType())
+            {
+            case DirectionType::Forward:
+                direction_type = "Forward";
+                break;
+            case DirectionType::Backward:
+                direction_type = "Backward";
+                break;
+            }
+            if (name != "")
+                return fmt::format(R"(<Action:Drive name='{}' speed='{}' direction_type='{}'/>)", name, this->getSpeed());
+            else
+                return fmt::format(R"(<Action:Drive speed='{}' direction_type='{}'/>)", this->getSpeed());
+        }
+
+        const int getSpeed() const
+        {
+            return this->speed;
+        }
+
+        const DirectionType &getDirectionType() const
+        {
+            return this->direction_type;
+        }
+
+    private:
+        const int speed;
+        const DirectionType direction_type;
+    };
+}
+
+#endif