The ParallelAllNode execute all its children concurrently, but not in separate threads! More...
#include <parallel_all_node.h>
Inheritance diagram for BT::ParallelAllNode:
Public Member Functions | |
| size_t | failureThreshold () const |
| virtual void | halt () override |
| ParallelAllNode (const std::string &name, const NodeConfig &config) | |
| void | setFailureThreshold (int threshold) |
| ~ParallelAllNode () 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 NodeConfig &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 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 () |
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 | |
| std::set< size_t > | completed_list_ |
| size_t | failure_count_ = 0 |
| size_t | failure_threshold_ |
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::ControlNode | |
| std::vector< TreeNode * > | children_nodes_ |
Detailed Description
The ParallelAllNode execute all its children concurrently, but not in separate threads!
It differs in the way ParallelNode works because the latter may stop and halt other children if a certain number of SUCCESS/FAILURES is reached, whilst this one will always complete the execution of ALL its children.
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 33 of file parallel_all_node.h.
Constructor & Destructor Documentation
◆ ParallelAllNode()
| BT::ParallelAllNode::ParallelAllNode | ( | const std::string & | name, |
| const NodeConfig & | config | ||
| ) |
Definition at line 21 of file parallel_all_node.cpp.
◆ ~ParallelAllNode()
|
overridedefault |
Member Function Documentation
◆ failureThreshold()
| size_t BT::ParallelAllNode::failureThreshold | ( | ) | const |
Definition at line 112 of file parallel_all_node.cpp.
◆ 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 105 of file parallel_all_node.cpp.
◆ providedPorts()
|
inlinestatic |
Definition at line 38 of file parallel_all_node.h.
◆ setFailureThreshold()
| void BT::ParallelAllNode::setFailureThreshold | ( | int | threshold | ) |
Definition at line 117 of file parallel_all_node.cpp.
◆ tick()
|
overrideprivatevirtual |
Method to be implemented by the user.
Implements BT::TreeNode.
Definition at line 25 of file parallel_all_node.cpp.
Member Data Documentation
◆ completed_list_
|
private |
Definition at line 56 of file parallel_all_node.h.
◆ failure_count_
|
private |
Definition at line 57 of file parallel_all_node.h.
◆ failure_threshold_
|
private |
Definition at line 54 of file parallel_all_node.h.
The documentation for this class was generated from the following files: