The AsyncActionNode uses 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 NodeConfiguration &config)

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

void	stopAndJoinThread ()

virtual	~AsyncActionNode () override

Public Member Functions inherited from BT::ActionNodeBase
	ActionNodeBase (const std::string &name, const NodeConfiguration &config)

virtual NodeType	type () const overridefinal

	~ActionNodeBase () override=default

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

virtual	~LeafNode () override=default

Public Member Functions inherited from BT::TreeNode
const NodeConfiguration &	config () const

template<typename T >
Result	getInput (const std::string &key, T &destination) const

template<typename T >
Optional< T >	getInput (const std::string &key) const

virtual void	halt ()=0

bool	isHalted () const

const std::string &	name () const
	Name of the instance, not the type. More...

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

template<typename T >
Result	setOutput (const std::string &key, const T &value)

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 (std::string name, NodeConfiguration config)
	TreeNode main constructor. More...

uint16_t	UID () const

BT::NodeStatus	waitValidStatus ()

virtual	~TreeNode ()=default

Private Member Functions
void	asyncThreadLoop ()

void	notifyStart ()

void	waitStart ()

Private Attributes
std::exception_ptr	exptr_

std::atomic< bool >	keep_thread_alive_

bool	start_action_

std::mutex	start_mutex_

std::condition_variable	start_signal_

std::thread	thread_

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 Optional< StringView >	getRemappedKey (StringView port_name, StringView remapping_value)

static bool	isBlackboardPointer (StringView str)

static StringView	stripBlackboardPointer (StringView str)

Protected Member Functions inherited from BT::TreeNode
void	modifyPortsRemapping (const PortsRemapping &new_remapping)

void	setRegistrationID (StringView ID)

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

Detailed Description

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

The user must implement the methods tick() and halt().

Definition at line 105 of file action_node.h.

Constructor & Destructor Documentation

BT::AsyncActionNode::AsyncActionNode	(	const std::string &	name,
		const NodeConfiguration &	config
	)

Definition at line 54 of file action_node.cpp.

BT::AsyncActionNode::~AsyncActionNode ( )

overridevirtual

Definition at line 62 of file action_node.cpp.

Member Function Documentation

void BT::AsyncActionNode::asyncThreadLoop ( )

private

Definition at line 87 of file action_node.cpp.

NodeStatus BT::AsyncActionNode::executeTick ( )

finaloverridevirtual

The method that should be used to invoke tick() and setStatus();.

Reimplemented from BT::TreeNode.

Definition at line 112 of file action_node.cpp.

void BT::AsyncActionNode::notifyStart ( )

private

Definition at line 80 of file action_node.cpp.

void BT::AsyncActionNode::stopAndJoinThread ( )

Definition at line 129 of file action_node.cpp.

void BT::AsyncActionNode::waitStart ( )

private

Definition at line 70 of file action_node.cpp.

Member Data Documentation

std::exception_ptr BT::AsyncActionNode::exptr_

private

Definition at line 134 of file action_node.h.

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

private

Definition at line 126 of file action_node.h.

bool BT::AsyncActionNode::start_action_

private

Definition at line 128 of file action_node.h.

std::mutex BT::AsyncActionNode::start_mutex_

private

Definition at line 130 of file action_node.h.

std::condition_variable BT::AsyncActionNode::start_signal_

private

Definition at line 132 of file action_node.h.

std::thread BT::AsyncActionNode::thread_

private

Definition at line 136 of file action_node.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation