dot_bt.h

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/* Copyright (C) 2017 Iason Sarantopoulos - 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.
 */

#ifndef DOT_BT_H
#define DOT_BT_H

#include <string>
#include <ros/ros.h>
#include <tree_node.h>
#include <boost/algorithm/string.hpp>
#include <vector>

namespace BT
{
class DotBt
{
public:
  explicit DotBt(TreeNode* root,
                 const std::string& topic = "/bt_dotcode",
                 double ros_rate = 50,
                 bool left_right = false,
                 bool multiple_parents = false);

  ~DotBt();

  std::string getDotFile();

  void publish();
private:
  void produceDot(TreeNode* node, TreeNode* parent = NULL, const std::string& parent_alias = "");

  std::string defineNodeDot(TreeNode* node, const std::string& alias);

  std::string getAlias(const std::string &name);

  std::string dot_file_;

  ros::NodeHandle n_;

  ros::Publisher dotbt_publisher_;
  
  TreeNode* root_;

  std::string topic_;

  ros::Rate loop_rate_;

  std::vector<std::string> aliases_;

  bool left_right_;

  bool multiple_parents_;

  int multiple_alias_solver_;
};
}  // namespace BT

#endif  // DOT_BT_H