The ParallelNode execute all its children concurrently, but not in separate threads! More...

#include <parallel_node.h>

Inheritance diagram for BT::ParallelNode:

Public Member Functions
size_t	failureThreshold () const

virtual void	halt () override

	ParallelNode (const std::string &name, int success_threshold, int failure_threshold=1)

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

void	setFailureThreshold (int threshold_M)

void	setSuccessThreshold (int threshold_M)

size_t	successThreshold () const

	~ParallelNode () override=default

Public Member Functions inherited from BT::ControlNode
void	addChild (TreeNode *child)
	The method used to add nodes to the children vector. More...

const TreeNode *	child (size_t index) const

const std::vector< TreeNode * > &	children () const

size_t	childrenCount () const

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

void	haltChild (size_t i)

void	haltChildren ()
	same as resetChildren() More...

void	haltChildren (size_t first)

void	resetChildren ()

virtual NodeType	type () const override final

virtual	~ControlNode () override=default

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

void	emitStateChanged ()

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

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

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
int	failure_threshold_

bool	read_parameter_from_ports_

std::set< int >	skip_list_

int	success_threshold_

Static Private Attributes
static constexpr const char *	THRESHOLD_FAILURE = "failure_threshold"

static constexpr const char *	THRESHOLD_SUCCESS = "success_threshold"

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

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)

Protected Attributes inherited from BT::ControlNode
std::vector< TreeNode * >	children_nodes_

Detailed Description

The ParallelNode execute all its children concurrently, but not in separate threads!

Even if this may look similar to ReactiveSequence, this Control Node is the only one that can have multiple children RUNNING at the same time.

The Node is completed either when the THRESHOLD_SUCCESS or THRESHOLD_FAILURE number is reached (both configured using ports).

If any of the threaholds is reached, and other children are still running, they will be halted.

Note that threshold indexes work as in Python: https://www.i2tutorials.com/what-are-negative-indexes-and-why-are-they-used/

Therefore -1 is equivalent to the number of children.

Definition at line 40 of file parallel_node.h.

Constructor & Destructor Documentation

◆ ParallelNode() [1/2]

BT::ParallelNode::ParallelNode	(	const std::string &	name,
		int	success_threshold,
		int	failure_threshold = `1`
	)

Definition at line 24 of file parallel_node.cpp.

◆ ParallelNode() [2/2]

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

Definition at line 34 of file parallel_node.cpp.

◆ ~ParallelNode()

BT::ParallelNode::~ParallelNode ( )

overridedefault

Member Function Documentation

◆ failureThreshold()

size_t BT::ParallelNode::failureThreshold ( ) const

Definition at line 152 of file parallel_node.cpp.

◆ halt()

void BT::ParallelNode::halt ( )

overridevirtual

The method used to interrupt the execution of a RUNNING node. Only Async nodes that may return RUNNING should implement it.

Reimplemented from BT::ControlNode.

Definition at line 139 of file parallel_node.cpp.

◆ providedPorts()

static PortsList BT::ParallelNode::providedPorts ( )

inlinestatic

Definition at line 47 of file parallel_node.h.

◆ setFailureThreshold()

void BT::ParallelNode::setFailureThreshold ( int threshold_M )

Definition at line 164 of file parallel_node.cpp.

◆ setSuccessThreshold()

void BT::ParallelNode::setSuccessThreshold ( int threshold_M )

Definition at line 159 of file parallel_node.cpp.

◆ successThreshold()

size_t BT::ParallelNode::successThreshold ( ) const

Definition at line 145 of file parallel_node.cpp.

◆ tick()

NodeStatus BT::ParallelNode::tick ( )

overrideprivatevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 41 of file parallel_node.cpp.

Member Data Documentation

◆ failure_threshold_

int BT::ParallelNode::failure_threshold_

private

Definition at line 67 of file parallel_node.h.

◆ read_parameter_from_ports_

bool BT::ParallelNode::read_parameter_from_ports_

private

Definition at line 71 of file parallel_node.h.

◆ skip_list_

std::set<int> BT::ParallelNode::skip_list_

private

Definition at line 69 of file parallel_node.h.

◆ success_threshold_

int BT::ParallelNode::success_threshold_

private

Definition at line 66 of file parallel_node.h.

◆ THRESHOLD_FAILURE

constexpr const char * BT::ParallelNode::THRESHOLD_FAILURE = "failure_threshold"

staticprivate

Definition at line 73 of file parallel_node.h.

◆ THRESHOLD_SUCCESS

constexpr const char * BT::ParallelNode::THRESHOLD_SUCCESS = "success_threshold"

staticprivate

Definition at line 72 of file parallel_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

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ParallelNode() [1/2]

◆ ParallelNode() [2/2]

◆ ~ParallelNode()

Member Function Documentation

◆ failureThreshold()

◆ halt()

◆ providedPorts()

◆ setFailureThreshold()

◆ setSuccessThreshold()

◆ successThreshold()

◆ tick()

Member Data Documentation

◆ failure_threshold_

◆ read_parameter_from_ports_

◆ skip_list_

◆ success_threshold_

◆ THRESHOLD_FAILURE

◆ THRESHOLD_SUCCESS