The CoroActionNode class is an a good candidate for asynchronous actions which need to communicate with an external service using an asynch request/reply interface. More...

#include <action_node.h>

Inheritance diagram for BT::CoroActionNode:

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Classes
struct	Pimpl

Public Member Functions
	CoroActionNode (const std::string &name, const NodeConfiguration &config)

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

void	halt () override

void	setStatusRunningAndYield ()
	Use this method to return RUNNING and temporary "pause" the Action. More...

virtual	~CoroActionNode () override

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

virtual NodeType	type () const override final

	~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

void	emitStateChanged ()

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

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

StringView	getRawPortValue (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	setPostTickOverrideFunction (PostTickOverrideCallback callback)

void	setPreTickOverrideFunction (PreTickOverrideCallback callback)

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

Protected Attributes
std::unique_ptr< Pimpl >	_p

Additional Inherited Members
Public Types inherited from BT::TreeNode
using	PostTickOverrideCallback = std::function< Optional< NodeStatus >(TreeNode &, NodeStatus, NodeStatus)>

using	PreTickOverrideCallback = std::function< Optional< NodeStatus >(TreeNode &, NodeStatus)>

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	resetStatus ()
	Equivalent to setStatus(NodeStatus::IDLE) More...

void	setRegistrationID (StringView ID)

void	setStatus (NodeStatus new_status)

void	setWakeUpInstance (std::shared_ptr< WakeUpSignal > instance)

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

Detailed Description

The CoroActionNode class is an a good candidate for asynchronous actions which need to communicate with an external service using an asynch request/reply interface.

It is up to the user to decide when to suspend execution of the Action and resume the parent node, invoking the method setStatusRunningAndYield().

Definition at line 186 of file action_node.h.

Constructor & Destructor Documentation

◆ CoroActionNode()

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

Definition at line 84 of file action_node.cpp.

◆ ~CoroActionNode()

CoroActionNode::~CoroActionNode ( )

overridevirtual

Definition at line 93 of file action_node.cpp.

Member Function Documentation

◆ executeTick()

NodeStatus CoroActionNode::executeTick ( )

finaloverridevirtual

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

Reimplemented from BT::TreeNode.

Definition at line 102 of file action_node.cpp.

◆ halt()

void CoroActionNode::halt ( )

overridevirtual

You may want to override this method. But still, remember to call this implementation too.

Example:

void MyAction::halt()
{
    // do your stuff here
    CoroActionNode::halt();
}

Implements BT::TreeNode.

Reimplemented in SimpleCoroAction.

Definition at line 118 of file action_node.cpp.

◆ setStatusRunningAndYield()

void CoroActionNode::setStatusRunningAndYield ( )

Use this method to return RUNNING and temporary "pause" the Action.

Definition at line 96 of file action_node.cpp.

Member Data Documentation

◆ _p

std::unique_ptr<Pimpl> BT::CoroActionNode::_p

protected

Definition at line 212 of file action_node.h.

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

Classes

Public Member Functions

Protected Attributes

Additional Inherited Members