set_blackboard_node.h

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/*  Copyright (C) 2018 Davide Faconti -  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 ACTION_SETBLACKBOARD_NODE_H
#define ACTION_SETBLACKBOARD_NODE_H

#include "behaviortree_cpp/action_node.h"

namespace BT
{
class SetBlackboard : public SyncActionNode
{
  public:
    SetBlackboard(const std::string& name, const NodeParameters& params)
      : SyncActionNode(name, params)
    {
    }

    static const NodeParameters& requiredNodeParameters()
    {
        static NodeParameters params = {{"key", ""}, {"value", ""}};
        return params;
    }

  private:
    virtual BT::NodeStatus tick() override
    {
        std::string key;
        if (!blackboard() || !getParam("key", key) || key.empty())
        {
            return NodeStatus::FAILURE;
        }
        else
        {
            std::string value;
            getParam("value", value);
            blackboard()->set(key, value);
            return NodeStatus::SUCCESS;
        }
    }
};
}

#endif