Class MissionBuildHandlerBase

Inheritance Relationships

Base Type

  • public auto_apms_behavior_tree::TreeBuildHandler

Class Documentation

class MissionBuildHandlerBase : public auto_apms_behavior_tree::TreeBuildHandler

Base class for behavior tree build handlers that are used to configure missions including fallback mechanisms.

Public Static Attributes

static const std::string ORCHESTRATOR_EXECUTOR_NAME
static const std::string MISSION_EXECUTOR_NAME
static const std::string EVENT_MONITOR_EXECUTOR_NAME
static const std::string EVENT_HANDLER_EXECUTOR_NAME

Protected Functions

virtual MissionConfig createMissionConfig(const std::string &build_request) = 0
virtual void buildBringUp(TreeDocument::TreeElement &sub_tree, const std::vector<TreeResource::Identity> &trees)
virtual void buildMission(TreeDocument::TreeElement &sub_tree, const std::vector<TreeResource::Identity> &trees)
virtual void buildEventMonitor(TreeDocument::TreeElement &sub_tree, const std::vector<std::pair<TreeResource::Identity, TreeResource::Identity>> &contingencies, const std::vector<std::pair<TreeResource::Identity, TreeResource::Identity>> &emergencies)
virtual void buildContingencyHandling(TreeDocument::TreeElement &sub_tree, const std::vector<std::pair<TreeResource::Identity, TreeResource::Identity>> &contingencies)
virtual void buildEmergencyHandling(TreeDocument::TreeElement &sub_tree, const std::vector<std::pair<TreeResource::Identity, TreeResource::Identity>> &emergencies)
virtual void buildShutDown(TreeDocument::TreeElement &sub_tree, const std::vector<TreeResource::Identity> &trees)
virtual void configureOrchestratorRootBlackboard(TreeBlackboard &bb)