Abstract base class for Behavior Tree Nodes. More...

#include <tree_node.h>

Inheritance diagram for BT::TreeNode:

[legend]

Public Types
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

Public Member Functions
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

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	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...

virtual NodeType	type () const =0

uint16_t	UID () const

BT::NodeStatus	waitValidStatus ()

virtual	~TreeNode ()=default

Static Public Member Functions
static Optional< StringView >	getRemappedKey (StringView port_name, StringView remapping_value)

static bool	isBlackboardPointer (StringView str)

static StringView	stripBlackboardPointer (StringView str)

Protected Member Functions
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...

Private Attributes
NodeConfiguration	config_

const std::string	name_

PostTickOverrideCallback	post_condition_callback_

PreTickOverrideCallback	pre_condition_callback_

std::string	registration_ID_

StatusChangeSignal	state_change_signal_

std::condition_variable	state_condition_variable_

std::mutex	state_mutex_

NodeStatus	status_

const uint16_t	uid_

std::shared_ptr< WakeUpSignal >	wake_up_

Friends
class	BehaviorTreeFactory

class	ControlNode

class	DecoratorNode

class	Tree

Detailed Description

Abstract base class for Behavior Tree Nodes.

Definition at line 55 of file tree_node.h.

Member Typedef Documentation

◆ PostTickOverrideCallback

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

Definition at line 101 of file tree_node.h.

◆ PreTickOverrideCallback

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

Definition at line 99 of file tree_node.h.

◆ Ptr

typedef std::shared_ptr<TreeNode> BT::TreeNode::Ptr

Definition at line 58 of file tree_node.h.

◆ StatusChangeCallback

using BT::TreeNode::StatusChangeCallback = StatusChangeSignal::CallableFunction

Definition at line 96 of file tree_node.h.

◆ StatusChangeSignal

using BT::TreeNode::StatusChangeSignal = Signal<TimePoint, const TreeNode&, NodeStatus, NodeStatus>

Definition at line 94 of file tree_node.h.

◆ StatusChangeSubscriber

using BT::TreeNode::StatusChangeSubscriber = StatusChangeSignal::Subscriber

Definition at line 95 of file tree_node.h.

Constructor & Destructor Documentation

◆ TreeNode()

BT::TreeNode::TreeNode	(	std::string	name,
		NodeConfiguration	config
	)

TreeNode main constructor.

Parameters

name	name of the instance, not the type.
config	information about input/output ports. See NodeConfiguration

Note: If your custom node has ports, the derived class must implement:

static PortsList providedPorts();

Definition at line 25 of file tree_node.cpp.

◆ ~TreeNode()

virtual BT::TreeNode::~TreeNode ( )

virtualdefault

Member Function Documentation

◆ config()

const NodeConfiguration & BT::TreeNode::config ( ) const

Configuration passed at construction time. Can never change after the creation of the TreeNode instance.

Definition at line 127 of file tree_node.cpp.

◆ emitStateChanged()

void BT::TreeNode::emitStateChanged ( )

Definition at line 193 of file tree_node.cpp.

◆ executeTick()

NodeStatus BT::TreeNode::executeTick ( )

virtual

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

Reimplemented in BT::CoroActionNode, BT::AsyncActionNode, BT::SyncActionNode, and BT::DecoratorNode.

Definition at line 32 of file tree_node.cpp.

◆ getInput() [1/2]

template<typename T >

Result BT::TreeNode::getInput	(	const std::string &	key,
		T &	destination
	)		const

inline

Read an input port, which, in practice, is an entry in the blackboard. If the blackboard contains a std::string and T is not a string, convertFromString<T>() is used automatically to parse the text.

Parameters

key	the identifier (before remapping) of the port.

Returns: false if an error occurs.

Definition at line 232 of file tree_node.h.

◆ getInput() [2/2]

template<typename T >

Optional<T> BT::TreeNode::getInput ( const std::string & key ) const

inline

Same as bool getInput(const std::string& key, T& destination) but using optional.

Definition at line 159 of file tree_node.h.

◆ getRawPortValue()

StringView BT::TreeNode::getRawPortValue ( const std::string & key ) const

Definition at line 132 of file tree_node.cpp.

◆ getRemappedKey()

Optional< StringView > BT::TreeNode::getRemappedKey	(	StringView	port_name,
		StringView	remapping_value
	)

static

Definition at line 179 of file tree_node.cpp.

◆ halt()

virtual void BT::TreeNode::halt ( )

pure virtual

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

Implemented in BT::CoroActionNode, BT::StatefulActionNode, FollowPath, BT::AsyncActionNode, MyAsyncAction, BT::SyncActionNode, MoveBaseAction, BT::RepeatNode, BT::ParallelNode, BT::SwitchNode< NUM_CASES >, BT::RetryNode, BT::AsyncActionTest, BT::ControlNode, BT::IfThenElseNode, BT::SequenceStarNode, BT::SequenceNode, BT::WhileDoElseNode, BT::FallbackNode, BT::DelayNode, BT::ConditionNode, BT::ManualSelectorNode, BT::DecoratorNode, and SimpleCoroAction.

◆ isBlackboardPointer()

bool BT::TreeNode::isBlackboardPointer ( StringView str )

static

Check a string and return true if it matches either one of these two patterns: {...} or ${...}

Definition at line 145 of file tree_node.cpp.

◆ isHalted()

bool BT::TreeNode::isHalted ( ) const

Definition at line 106 of file tree_node.cpp.

◆ modifyPortsRemapping()

void BT::TreeNode::modifyPortsRemapping ( const PortsRemapping & new_remapping )

protected

Definition at line 211 of file tree_node.cpp.

◆ name()

const std::string & BT::TreeNode::name ( ) const

Name of the instance, not the type.

Definition at line 101 of file tree_node.cpp.

◆ registrationName()

const std::string & BT::TreeNode::registrationName ( ) const

registrationName is the ID used by BehaviorTreeFactory to create an instance.

Definition at line 122 of file tree_node.cpp.

◆ resetStatus()

void BT::TreeNode::resetStatus ( )

protected

Equivalent to setStatus(NodeStatus::IDLE)

Definition at line 79 of file tree_node.cpp.

◆ setOutput()

template<typename T >

Result BT::TreeNode::setOutput	(	const std::string &	key,
		const T &	value
	)

inline

Definition at line 293 of file tree_node.h.

◆ setPostTickOverrideFunction()

void BT::TreeNode::setPostTickOverrideFunction ( PostTickOverrideCallback callback )

This method attaches to the TreeNode a callback with signature:

Optional<NodeStatus> myCallback(TreeNode& node, NodeStatus prev_status, NodeStatus tick_status)

This callback is executed AFTER the tick() and, if it returns a valid Optional<NodeStatus>, the value returned by the actual tick() is overriden with this one.

◆ setPreTickOverrideFunction()

void BT::TreeNode::setPreTickOverrideFunction ( PreTickOverrideCallback callback )

This method attaches to the TreeNode a callback with signature:

 Optional<NodeStatus> myCallback(TreeNode& node, NodeStatus current_status)

This callback is executed BEFORE the tick() and, if it returns a valid Optional<NodeStatus>, the actual tick() will NOT be executed and this result will be returned instead.

This is useful to inject a "dummy" implementation of the TreeNode at run-time

◆ setRegistrationID()

void BT::TreeNode::setRegistrationID ( StringView ID )

protected

Definition at line 201 of file tree_node.cpp.

◆ setStatus()

void BT::TreeNode::setStatus ( NodeStatus new_status )

protected

Definition at line 63 of file tree_node.cpp.

◆ setWakeUpInstance()

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

protected

Definition at line 206 of file tree_node.cpp.

◆ status()

NodeStatus BT::TreeNode::status ( ) const

Definition at line 84 of file tree_node.cpp.

◆ stripBlackboardPointer()

StringView BT::TreeNode::stripBlackboardPointer ( StringView str )

static

Definition at line 162 of file tree_node.cpp.

◆ subscribeToStatusChange()

TreeNode::StatusChangeSubscriber BT::TreeNode::subscribeToStatusChange ( TreeNode::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.

Parameters

callback The callback to be execute when status change.

Returns: the subscriber handle.

Definition at line 112 of file tree_node.cpp.

◆ tick()

virtual BT::NodeStatus BT::TreeNode::tick ( )

protectedpure virtual

Method to be implemented by the user.

Implemented in NaughtyNav2Node, ReadInConstructor, BT::StatefulActionNode, IllegalPorts, FollowPath, BT::QueueSize< T >, NodeOutPorts, ComputePathToPose, UseWaypoint, BackUpAndSpin, NodeInPorts, BT::SimpleActionNode, IsStuck, BT::SubtreePlusNode, BT::ParallelNode, BT::SwitchNode< NUM_CASES >, PrintTarget, BT::PopFromQueue< T >, BT::SimpleDecoratorNode, BT::RetryNode, BT::SimpleConditionNode, BT::TimeoutNode< _Clock, _Duration >, BT::BlackboardPreconditionNode< T >, DummyNodes::SaySomething, BB_TypedTestNode, MoveBaseAction, BT::RepeatNode, Action_B, UseWaypointQueue, ThinkWhatToSay, CopyPorts, BT::SetBlackboard, BT::DelayNode, CalculateGoal, BT::IfThenElseNode, BT::SequenceStarNode, BT::SequenceNode, DummyNodes::ApproachObject, BT::FallbackNode, BT::AsyncActionTest, BT::WhileDoElseNode, BT::ManualSelectorNode, SimpleCoroAction, BT::ReactiveFallback, BT::ReactiveSequence, SayRuntimePort, BT::ConsumeQueue< T >, BT::InverterNode, BT::KeepRunningUntilFailureNode, GenerateWaypoints, BT::AlwaysFailureNode, BT::AlwaysSuccessNode, BT::ForceFailureNode, BT::ForceSuccessNode, BB_TestNode, MyAsyncAction, ThinkRuntimePort, Action_A, BT::SubtreeNode, FastAction, BT::ConditionTestNode, NodeWithPorts, and BT::SyncActionTest.

◆ type()

virtual NodeType BT::TreeNode::type ( ) const

pure virtual

Implemented in BT::SubtreePlusNode, BT::ControlNode, BT::ActionNodeBase, BT::ConditionNode, BT::SubtreeNode, and BT::DecoratorNode.

◆ UID()

uint16_t BT::TreeNode::UID ( ) const

Definition at line 117 of file tree_node.cpp.

◆ waitValidStatus()

NodeStatus BT::TreeNode::waitValidStatus ( )

Blocking function that will sleep until the setStatus() is called with either RUNNING, FAILURE or SUCCESS.

Definition at line 90 of file tree_node.cpp.

Friends And Related Function Documentation

◆ BehaviorTreeFactory

friend class BehaviorTreeFactory

friend

Definition at line 189 of file tree_node.h.

◆ ControlNode

friend class ControlNode

friend

Definition at line 191 of file tree_node.h.

◆ DecoratorNode

friend class DecoratorNode

friend

Definition at line 190 of file tree_node.h.

◆ Tree

friend class Tree

friend

Definition at line 192 of file tree_node.h.

Member Data Documentation

◆ config_

NodeConfiguration BT::TreeNode::config_

private

Definition at line 219 of file tree_node.h.

◆ name_

const std::string BT::TreeNode::name_

private

Definition at line 207 of file tree_node.h.

◆ post_condition_callback_

PostTickOverrideCallback BT::TreeNode::post_condition_callback_

private

Definition at line 225 of file tree_node.h.

◆ pre_condition_callback_

PreTickOverrideCallback BT::TreeNode::pre_condition_callback_

private

Definition at line 223 of file tree_node.h.

◆ registration_ID_

std::string BT::TreeNode::registration_ID_

private

Definition at line 221 of file tree_node.h.

◆ state_change_signal_

StatusChangeSignal BT::TreeNode::state_change_signal_

private

Definition at line 215 of file tree_node.h.

◆ state_condition_variable_

std::condition_variable BT::TreeNode::state_condition_variable_

private

Definition at line 211 of file tree_node.h.

◆ state_mutex_

std::mutex BT::TreeNode::state_mutex_

mutableprivate

Definition at line 213 of file tree_node.h.

◆ status_

NodeStatus BT::TreeNode::status_

private

Definition at line 209 of file tree_node.h.

◆ uid_

const uint16_t BT::TreeNode::uid_

private

Definition at line 217 of file tree_node.h.

◆ wake_up_

std::shared_ptr<WakeUpSignal> BT::TreeNode::wake_up_

private

Definition at line 227 of file tree_node.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ PostTickOverrideCallback

◆ PreTickOverrideCallback

◆ Ptr

◆ StatusChangeCallback

◆ StatusChangeSignal

◆ StatusChangeSubscriber

Constructor & Destructor Documentation

◆ TreeNode()

◆ ~TreeNode()

Member Function Documentation

◆ config()

◆ emitStateChanged()

◆ executeTick()

◆ getInput() [1/2]

◆ getInput() [2/2]

◆ getRawPortValue()

◆ getRemappedKey()

◆ halt()

◆ isBlackboardPointer()

◆ isHalted()

◆ modifyPortsRemapping()

◆ name()

◆ registrationName()

◆ resetStatus()

◆ setOutput()

◆ setPostTickOverrideFunction()

◆ setPreTickOverrideFunction()

◆ setRegistrationID()

◆ setStatus()

◆ setWakeUpInstance()

◆ status()

◆ stripBlackboardPointer()

◆ subscribeToStatusChange()

◆ tick()

◆ type()

◆ UID()

◆ waitValidStatus()

Friends And Related Function Documentation

◆ BehaviorTreeFactory

◆ ControlNode

◆ DecoratorNode

◆ Tree

Member Data Documentation

◆ config_

◆ name_

◆ post_condition_callback_

◆ pre_condition_callback_

◆ registration_ID_

◆ state_change_signal_

◆ state_condition_variable_

◆ state_mutex_

◆ status_

◆ uid_

◆ wake_up_