The AsyncActionNode a different thread where the action will be executed. More...

#include <action_node.h>

Inheritance diagram for BT::AsyncActionNode:

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Public Member Functions
	AsyncActionNode (const std::string &name, const NodeParameters &parameters=NodeParameters())

virtual NodeStatus	executeTick () overridefinal
	The method that will be executed to invoke tick(); and setStatus();. More...

void	stopAndJoinThread ()

virtual	~AsyncActionNode () override

Public Member Functions inherited from BT::ActionNodeBase
	ActionNodeBase (const std::string &name, const NodeParameters &parameters=NodeParameters())

virtual NodeType	type () const overridefinal

	~ActionNodeBase () override=default

Public Member Functions inherited from BT::LeafNode
	LeafNode (const std::string &name, const NodeParameters &parameters)

virtual	~LeafNode () override=default

Public Member Functions inherited from BT::TreeNode
const Blackboard::Ptr &	blackboard () const

template<typename T >
BT::optional< T >	getParam (const std::string &key) const

template<typename T >
bool	getParam (const std::string &key, T &destination) const

virtual void	halt ()=0
	The method used to interrupt the execution of a RUNNING node. More...

const NodeParameters &	initializationParameters () const

bool	isHalted () const

const std::string &	name () const

const std::string &	registrationName () const
	registrationName is the ID used by BehaviorTreeFactory to create an instance. More...

void	setBlackboard (const Blackboard::Ptr &bb)

void	setStatus (NodeStatus new_status)

NodeStatus	status () const

StatusChangeSubscriber	subscribeToStatusChange (StatusChangeCallback callback)
	subscribeToStatusChange is used to attach a callback to a status change. When StatusChangeSubscriber goes out of scope (it is a shared_ptr) the callback is unsubscribed automatically. More...

	TreeNode (const std::string &name, const NodeParameters &parameters)
	TreeNode main constructor. More...

uint16_t	UID () const

BT::NodeStatus	waitValidStatus ()

virtual	~TreeNode ()=default

Protected Member Functions
void	waitForTick ()

Protected Member Functions inherited from BT::TreeNode
void	initializeOnce ()

void	setRegistrationName (const std::string &registration_name)
	registrationName() is set by the BehaviorTreeFactory More...

virtual BT::NodeStatus	tick ()=0
	Method to be implemented by the user. More...

Protected Attributes
std::atomic< bool >	loop_

std::thread	thread_

TickEngine	tick_engine_

Additional Inherited Members
Public Types inherited from BT::TreeNode
typedef std::shared_ptr< TreeNode >	Ptr

using	StatusChangeCallback = StatusChangeSignal::CallableFunction

using	StatusChangeSignal = Signal< TimePoint, const TreeNode &, NodeStatus, NodeStatus >

using	StatusChangeSubscriber = StatusChangeSignal::Subscriber

Static Public Member Functions inherited from BT::TreeNode
static bool	isBlackboardPattern (StringView str)

Detailed Description

The AsyncActionNode a different thread where the action will be executed.

The user must implement the method asyncTick() instead of tick() and the method halt() as usual.

Remember, though, that the method asyncTick() must update the state to either RUNNING, SUCCESS or FAILURE, otherwise the execution of the Behavior Tree is blocked!

Definition at line 110 of file action_node.h.

Constructor & Destructor Documentation

BT::AsyncActionNode::AsyncActionNode	(	const std::string &	name,
		const NodeParameters &	parameters = `NodeParameters()`
	)

Definition at line 65 of file action_node.cpp.

BT::AsyncActionNode::~AsyncActionNode ( )

overridevirtual

Definition at line 71 of file action_node.cpp.

Member Function Documentation

NodeStatus BT::AsyncActionNode::executeTick ( )

finaloverridevirtual

The method that will be executed to invoke tick(); and setStatus();.

Reimplemented from BT::ActionNodeBase.

Definition at line 95 of file action_node.cpp.

void BT::AsyncActionNode::stopAndJoinThread ( )

Definition at line 110 of file action_node.cpp.

void BT::AsyncActionNode::waitForTick ( )

protected

Definition at line 79 of file action_node.cpp.

Member Data Documentation

std::atomic<bool> BT::AsyncActionNode::loop_

protected

Definition at line 134 of file action_node.h.

std::thread BT::AsyncActionNode::thread_

protected

Definition at line 128 of file action_node.h.

TickEngine BT::AsyncActionNode::tick_engine_

protected

Definition at line 132 of file action_node.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation