The TimeoutNode will halt() a running child if the latter has been RUNNING for more than a give time. The timeout is in millisecons and it is passed using the port "msec". More...

#include <timeout_node.h>

Inheritance diagram for BT::TimeoutNode:

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Public Member Functions
	TimeoutNode (const std::string &name, unsigned milliseconds)

	TimeoutNode (const std::string &name, const NodeConfiguration &config)

	~TimeoutNode () override

Public Member Functions inherited from BT::DecoratorNode
const TreeNode *	child () const

TreeNode *	child ()

	DecoratorNode (const std::string &name, const NodeConfiguration &config)

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

virtual void	halt () override
	The method used to interrupt the execution of this node. More...

void	haltChild ()
	Halt() the child node. More...

void	setChild (TreeNode *child)

virtual NodeType	type () const override

virtual	~DecoratorNode () 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

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

Static Public Member Functions
static PortsList	providedPorts ()

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)

Private Member Functions
virtual BT::NodeStatus	tick () override
	Method to be implemented by the user. More...

Private Attributes
std::atomic< bool >	child_halted_

unsigned	msec_

bool	read_parameter_from_ports_

std::mutex	timeout_mutex_

bool	timeout_started_

TimerQueue	timer_

uint64_t	timer_id_

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

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

void	setRegistrationID (StringView ID)

Protected Attributes inherited from BT::DecoratorNode
TreeNode *	child_node_

Detailed Description

The TimeoutNode will halt() a running child if the latter has been RUNNING for more than a give time. The timeout is in millisecons and it is passed using the port "msec".

If timeout is reached it returns FAILURE.

Example:

Definition at line 23 of file timeout_node.h.

Constructor & Destructor Documentation

BT::TimeoutNode::TimeoutNode	(	const std::string &	name,
		unsigned	milliseconds
	)

Definition at line 18 of file timeout_node.cpp.

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

Definition at line 29 of file timeout_node.cpp.

BT::TimeoutNode::~TimeoutNode ( )

inlineoverride

Definition at line 30 of file timeout_node.h.

Member Function Documentation

static PortsList BT::TimeoutNode::providedPorts ( )

inlinestatic

Definition at line 35 of file timeout_node.h.

NodeStatus BT::TimeoutNode::tick ( )

overrideprivatevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 39 of file timeout_node.cpp.

Member Data Documentation

std::atomic<bool> BT::TimeoutNode::child_halted_

private

Definition at line 46 of file timeout_node.h.

unsigned BT::TimeoutNode::msec_

private

Definition at line 49 of file timeout_node.h.

bool BT::TimeoutNode::read_parameter_from_ports_

private

Definition at line 50 of file timeout_node.h.

std::mutex BT::TimeoutNode::timeout_mutex_

private

Definition at line 52 of file timeout_node.h.

bool BT::TimeoutNode::timeout_started_

private

Definition at line 51 of file timeout_node.h.

TimerQueue BT::TimeoutNode::timer_

private

Definition at line 42 of file timeout_node.h.

uint64_t BT::TimeoutNode::timer_id_

private

Definition at line 47 of file timeout_node.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation