The delay node will introduce a delay and then tick the child returning the status of the child as it is upon completion The delay is in milliseconds and it is passed using the port "delay_msec". More...

#include <delay_node.h>

Inheritance diagram for BT::DelayNode:

[legend]

Public Member Functions
	DelayNode (const std::string &name, const NodeConfig &config)

	DelayNode (const std::string &name, unsigned milliseconds)

void	halt () override
	The method used to interrupt the execution of this node. More...

	~DelayNode () override

Public Member Functions inherited from BT::DecoratorNode
TreeNode *	child ()

const TreeNode *	child () const

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

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

void	haltChild ()
	Same as resetChild() More...

void	resetChild ()

void	setChild (TreeNode *child)

virtual NodeType	type () const override

virtual	~DecoratorNode () 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 ()

Static Public Member Functions
static PortsList	providedPorts ()

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)

Private Member Functions
virtual BT::NodeStatus	tick () override
	Method to be implemented by the user. More...

Private Attributes
bool	delay_aborted_ = false

std::atomic_bool	delay_complete_ = false

std::mutex	delay_mutex_

bool	delay_started_ = false

unsigned	msec_

bool	read_parameter_from_ports_ = false

TimerQueue	timer_

uint64_t	timer_id_

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)>

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)

Protected Attributes inherited from BT::DecoratorNode
TreeNode *	child_node_

Detailed Description

The delay node will introduce a delay and then tick the child returning the status of the child as it is upon completion The delay is in milliseconds and it is passed using the port "delay_msec".

During the delay the node changes status to RUNNING

Example:

Definition at line 34 of file delay_node.h.

Constructor & Destructor Documentation

◆ DelayNode() [1/2]

BT::DelayNode::DelayNode	(	const std::string &	name,
		unsigned	milliseconds
	)

Definition at line 8 of file delay_node.cpp.

◆ DelayNode() [2/2]

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

Definition at line 18 of file delay_node.cpp.

◆ ~DelayNode()

BT::DelayNode::~DelayNode ( )

inlineoverride

Definition at line 41 of file delay_node.h.

Member Function Documentation

◆ halt()

void BT::DelayNode::halt ( )

overridevirtual

The method used to interrupt the execution of this node.

Reimplemented from BT::DecoratorNode.

Definition at line 26 of file delay_node.cpp.

◆ providedPorts()

static PortsList BT::DelayNode::providedPorts ( )

inlinestatic

Definition at line 46 of file delay_node.h.

◆ tick()

NodeStatus BT::DelayNode::tick ( )

overrideprivatevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 33 of file delay_node.cpp.

Member Data Documentation

◆ delay_aborted_

bool BT::DelayNode::delay_aborted_ = false

private

Definition at line 62 of file delay_node.h.

◆ delay_complete_

std::atomic_bool BT::DelayNode::delay_complete_ = false

private

Definition at line 61 of file delay_node.h.

◆ delay_mutex_

std::mutex BT::DelayNode::delay_mutex_

private

Definition at line 65 of file delay_node.h.

◆ delay_started_

bool BT::DelayNode::delay_started_ = false

private

Definition at line 60 of file delay_node.h.

◆ msec_

unsigned BT::DelayNode::msec_

private

Definition at line 63 of file delay_node.h.

◆ read_parameter_from_ports_

bool BT::DelayNode::read_parameter_from_ports_ = false

private

Definition at line 64 of file delay_node.h.

◆ timer_

TimerQueue BT::DelayNode::timer_

private

Definition at line 55 of file delay_node.h.

◆ timer_id_

uint64_t BT::DelayNode::timer_id_

private

Definition at line 56 of file delay_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

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DelayNode() [1/2]

◆ DelayNode() [2/2]

◆ ~DelayNode()

Member Function Documentation

◆ halt()

◆ providedPorts()

◆ tick()

Member Data Documentation

◆ delay_aborted_

◆ delay_complete_

◆ delay_mutex_

◆ delay_started_

◆ msec_

◆ read_parameter_from_ports_

◆ timer_

◆ timer_id_