#include <control_node.h>

Inheritance diagram for BT::ControlNode:

[legend]

Public Member Functions
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 NodeConfig &config)

virtual void	halt () override

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 NodeConfig &	config () const

void	emitWakeUpSignal ()
	Notify that the tree should be ticked again() More...

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

const std::string &	fullPath () const

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

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

template<typename T >
Expected< StampedValue< T > >	getInputStamped (const std::string &key) const

template<typename T >
Expected< Timestamp >	getInputStamped (const std::string &key, T &destination) const
	getInputStamped is similar to getInput(dey, destination), but it returne also the Timestamp object, that can be used to check if a value was updated and when. More...

AnyPtrLocked	getLockedPortContent (const std::string &key)
	getLockedPortContent should be used when: More...

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

void	haltNode ()

bool	isHalted () const

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

TreeNode &	operator= (const TreeNode &other)=delete

TreeNode &	operator= (TreeNode &&other) noexcept

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

bool	requiresWakeUp () const

template<typename T >
Result	setOutput (const std::string &key, const T &value)
	setOutput modifies the content of an Output port More...

void	setPostTickFunction (PostTickCallback callback)

void	setPreTickFunction (PreTickCallback callback)

void	setTickMonitorCallback (TickMonitorCallback 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 (const TreeNode &other)=delete

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

	TreeNode (TreeNode &&other) noexcept

uint16_t	UID () const

BT::NodeStatus	waitValidStatus ()

virtual	~TreeNode ()

Protected Attributes
std::vector< TreeNode * >	children_nodes_

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

using	PreTickCallback = std::function< NodeStatus(TreeNode &)>

typedef std::shared_ptr< TreeNode >	Ptr

using	StatusChangeCallback = StatusChangeSignal::CallableFunction

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

using	StatusChangeSubscriber = StatusChangeSignal::Subscriber

using	TickMonitorCallback = std::function< void(TreeNode &, NodeStatus, std::chrono::microseconds)>

Static Public Member Functions inherited from BT::TreeNode
static Expected< StringView >	getRemappedKey (StringView port_name, StringView remapped_port)

template<class DerivedT , typename... ExtraArgs>
static std::unique_ptr< TreeNode >	Instantiate (const std::string &name, const NodeConfig &config, ExtraArgs... args)

static bool	isBlackboardPointer (StringView str, StringView *stripped_pointer=nullptr)
	Check a string and return true if it matches the pattern: {...}. More...

static StringView	stripBlackboardPointer (StringView str)

Protected Types inherited from BT::TreeNode
using	PostScripts = std::array< ScriptFunction, size_t(PostCond::COUNT_)>

using	PreScripts = std::array< ScriptFunction, size_t(PreCond::COUNT_)>

Protected Member Functions inherited from BT::TreeNode
NodeConfig &	config ()

void	modifyPortsRemapping (const PortsRemapping &new_remapping)

template<typename T >
T	parseString (const std::string &str) const

PostScripts &	postConditionsScripts ()

PreScripts &	preConditionsScripts ()

void	resetStatus ()
	Set the status to IDLE. More...

void	setRegistrationID (StringView ID)

void	setStatus (NodeStatus new_status)
	setStatus changes the status of the node. it will throw if you try to change the status to IDLE, because your parent node should do that, not the user! More...

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

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

Detailed Description

Definition at line 21 of file control_node.h.

Constructor & Destructor Documentation

◆ ControlNode()

BT::ControlNode::ControlNode	(	const std::string &	name,
		const NodeConfig &	config
	)

Definition at line 18 of file control_node.cpp.

◆ ~ControlNode()

virtual BT::ControlNode::~ControlNode ( )

overridevirtualdefault

Member Function Documentation

◆ addChild()

void BT::ControlNode::addChild ( TreeNode * child )

The method used to add nodes to the children vector.

Definition at line 22 of file control_node.cpp.

◆ child()

const TreeNode* BT::ControlNode::child ( size_t index ) const

inline

Definition at line 38 of file control_node.h.

◆ children()

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

Definition at line 50 of file control_node.cpp.

◆ childrenCount()

size_t BT::ControlNode::childrenCount ( ) const

Definition at line 27 of file control_node.cpp.

◆ halt()

void BT::ControlNode::halt ( )

overridevirtual

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

Implements BT::TreeNode.

Reimplemented in BT::ParallelNode, BT::SwitchNode< NUM_CASES >, BT::ParallelAllNode, BT::ReactiveFallback, BT::ReactiveSequence, BT::IfThenElseNode, BT::SequenceNode, BT::SequenceWithMemory, BT::WhileDoElseNode, BT::FallbackNode, and BT::ManualSelectorNode.

Definition at line 32 of file control_node.cpp.

◆ haltChild()

void BT::ControlNode::haltChild ( size_t i )

Definition at line 55 of file control_node.cpp.

◆ haltChildren() [1/2]

void BT::ControlNode::haltChildren ( )

same as resetChildren()

Definition at line 65 of file control_node.cpp.

◆ haltChildren() [2/2]

void BT::ControlNode::haltChildren ( size_t first )

Definition at line 73 of file control_node.cpp.

◆ resetChildren()

void BT::ControlNode::resetChildren ( )

Set the status of all children to IDLE. also send a halt() signal to all RUNNING children

Definition at line 38 of file control_node.cpp.

◆ type()

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

inlinefinaloverridevirtual

Implements BT::TreeNode.

Definition at line 53 of file control_node.h.

Member Data Documentation

◆ children_nodes_

std::vector<TreeNode*> BT::ControlNode::children_nodes_

protected

Definition at line 24 of file control_node.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members