from py_trees.behaviour import Behaviour
from py_trees.common import Status

# This provides the same functionality as py_trees's internal Timer class, but
# uses the number of steps instead of time, ensuring the same result regardless
# of the simulation speed.
class Sleep(Behaviour):
    def __init__(self, name, steps=20):
        super().__init__(name)
        self.steps = steps

    def update(self):
        while self.steps > 0:
            self.steps -= 1
            return Status.RUNNING
        return Status.SUCCESS