The CoroActionNode class is an a good candidate for asynchronous actions which need to communicate with an external service using an async 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 NodeConfig &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...

void	tickImpl ()

virtual	~CoroActionNode () override

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

virtual NodeType	type () const override final

	~ActionNodeBase () override=default

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

virtual	~LeafNode () override=default

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

void	emitWakeUpSignal ()
	Notify that the tree should be ticked again() 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 Member Functions
void	destroyCoroutine ()

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...

Protected Attributes
std::unique_ptr< Pimpl >	_p

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_)>

Detailed Description

The CoroActionNode class is an a good candidate for asynchronous actions which need to communicate with an external service using an async 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 196 of file action_node.h.

Constructor & Destructor Documentation

◆ CoroActionNode()

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

Definition at line 79 of file action_node.cpp.

◆ ~CoroActionNode()

CoroActionNode::~CoroActionNode ( )

overridevirtual

Definition at line 83 of file action_node.cpp.

Member Function Documentation

◆ destroyCoroutine()

void CoroActionNode::destroyCoroutine ( )

protected

Definition at line 135 of file action_node.cpp.

◆ executeTick()

NodeStatus CoroActionNode::executeTick ( )

finaloverridevirtual

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

Reimplemented from BT::TreeNode.

Definition at line 94 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 129 of file action_node.cpp.

◆ setStatusRunningAndYield()

void CoroActionNode::setStatusRunningAndYield ( )

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

Definition at line 88 of file action_node.cpp.

◆ tickImpl()

void CoroActionNode::tickImpl ( )

Definition at line 124 of file action_node.cpp.

Member Data Documentation

◆ _p

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

protected

Definition at line 225 of file action_node.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members