The StatefulActionNode is the preferred way to implement asynchronous Actions. It is actually easier to use correctly, when compared with ThreadedAction. More...
#include <action_node.h>
Public Member Functions | |
| bool | isHaltRequested () const |
| virtual void | onHalted ()=0 |
| virtual NodeStatus | onRunning ()=0 |
| method invoked when the action is already in the RUNNING state. More... | |
| virtual NodeStatus | onStart ()=0 |
| StatefulActionNode (const std::string &name, const NodeConfig &config) | |
 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... | |
| 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 Member Functions | |
| void | halt () override final |
| NodeStatus | tick () override final |
| Method to be implemented by the user. More... | |
| 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) |
Private Attributes | |
| std::atomic_bool | halt_requested_ = 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)> |
| 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 StatefulActionNode is the preferred way to implement asynchronous Actions. It is actually easier to use correctly, when compared with ThreadedAction.
It is particularly useful when your code contains a request-reply pattern, i.e. when the actions sends an asynchronous request, then checks periodically if the reply has been received and, eventually, analyze the reply to determine if the result is SUCCESS or FAILURE.
-) an action that was in IDLE state will call onStart()
-) A RUNNING action will call onRunning()
-) if halted, method onHalted() is invoked
Definition at line 159 of file action_node.h.
Constructor & Destructor Documentation
◆ StatefulActionNode()
|
inline |
Definition at line 162 of file action_node.h.
Member Function Documentation
◆ halt()
|
finaloverrideprotectedvirtual |
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 FollowPath.
Definition at line 179 of file action_node.cpp.
◆ isHaltRequested()
| bool StatefulActionNode::isHaltRequested | ( | ) | const |
Definition at line 148 of file action_node.cpp.
◆ onHalted()
|
pure virtual |
when the method halt() is called and the action is RUNNING, this method is invoked. This is a convenient place todo a cleanup, if needed.
Implemented in KeepRunning, DummyNodes::SleepNode, BT::TestNode, MoveBaseAction, BT::test::AsyncTestAction, and BT::SleepNode.
◆ onRunning()
|
pure virtual |
method invoked when the action is already in the RUNNING state.
Implemented in KeepRunning, DummyNodes::SleepNode, BT::TestNode, MoveBaseAction, BT::test::AsyncTestAction, and BT::SleepNode.
◆ onStart()
|
pure virtual |
Method called once, when transitioning from the state IDLE. If it returns RUNNING, this becomes an asynchronous node.
Implemented in KeepRunning, DummyNodes::SleepNode, BT::TestNode, MoveBaseAction, BT::test::AsyncTestAction, and BT::SleepNode.
◆ tick()
|
finaloverrideprotectedvirtual |
Method to be implemented by the user.
Implements BT::TreeNode.
Reimplemented in FollowPath, ComputePathToPose, BackUpAndSpin, and IsStuck.
Definition at line 153 of file action_node.cpp.
Member Data Documentation
◆ halt_requested_
|
private |
Definition at line 186 of file action_node.h.
The documentation for this class was generated from the following files: