The ReactiveFallback is similar to a ParallelNode. All the children are ticked from first to last: More...

#include <reactive_fallback.h>

Inheritance diagram for BT::ReactiveFallback:

Public Member Functions
	ReactiveFallback (const std::string &name)

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 void	EnableException (bool enable)

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
void	halt () override

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

Private Attributes
int	running_child_ = -1

Static Private Attributes
static bool	throw_if_multiple_running = false

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 ReactiveFallback is similar to a ParallelNode. All the children are ticked from first to last:

If a child returns RUNNING, continue to the next sibling.
If a child returns FAILURE, continue to the next sibling.
If a child returns SUCCESS, stop and return SUCCESS.

If all the children fail, than this node returns FAILURE.

IMPORTANT: to work properly, this node should not have more than a single asynchronous child.

Definition at line 33 of file reactive_fallback.h.

Constructor & Destructor Documentation

◆ ReactiveFallback()

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

inline

Definition at line 36 of file reactive_fallback.h.

Member Function Documentation

◆ EnableException()

void BT::ReactiveFallback::EnableException ( bool enable )

static

A ReactiveFallback is not supposed to have more than a single anychronous node; if it does an exception is thrown. You can disabled that check, if you know what you are doing.

Definition at line 20 of file reactive_fallback.cpp.

◆ halt()

void BT::ReactiveFallback::halt ( )

overrideprivatevirtual

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 93 of file reactive_fallback.cpp.

◆ tick()

NodeStatus BT::ReactiveFallback::tick ( )

overrideprivatevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 25 of file reactive_fallback.cpp.

Member Data Documentation

◆ running_child_

int BT::ReactiveFallback::running_child_ = -1

private

Definition at line 50 of file reactive_fallback.h.

◆ throw_if_multiple_running

bool BT::ReactiveFallback::throw_if_multiple_running = false

staticprivate

Definition at line 51 of file reactive_fallback.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members