The SubTreeNode is a way to wrap an entire Subtree, creating a separated BlackBoard. If you want to have data flow through ports, you need to explicitly remap the ports. More...

#include <subtree_node.h>

Inheritance diagram for BT::SubTreeNode:

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Public Member Functions
void	setSubtreeID (const std::string &ID)

const std::string &	subtreeID () const

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

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

virtual NodeType	type () const override final

virtual	~SubTreeNode () override=default

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...

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

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

void	resetChild ()

void	setChild (TreeNode *child)

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 Attributes
std::string	subtree_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 SubTreeNode is a way to wrap an entire Subtree, creating a separated BlackBoard. If you want to have data flow through ports, you need to explicitly remap the ports.

NOTE: autoremap will exclude all the ports which name start with underscore ''

Consider this example:

<BehaviorTree ID="MainTree">
    <Sequence>

    <Script code="myParam='Hello'" />
    <SubTree ID="Talk" param="{myParam}" />

    <SubTree ID="Talk" param="World" />

    <Script code="param='Auto remapped'" />
    <SubTree ID="Talk" _autoremap="1"  />

    </Sequence>
</BehaviorTree>

<BehaviorTree ID="Talk">
    <SaySomething message="{param}" />
</BehaviorTree>

</root>

You may notice three different approaches to remapping:

1) Subtree: "{param}" -> Parent: "{myParam}" -> Value: "Hello" Classical remapping from one port to another, but you need to use the syntax {myParam} to say that you are remapping the another port.

2) Subtree: "{param}" -> Value: "World" syntax without {}, in this case param directly point to the string "World".

3) Subtree: "{param}" -> Parent: "{parent}" Setting to true (or 1) the attribute "_autoremap", we are automatically remapping each port. Useful to avoid boilerplate.

Definition at line 52 of file subtree_node.h.

Constructor & Destructor Documentation

◆ SubTreeNode()

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

Definition at line 3 of file subtree_node.cpp.

◆ ~SubTreeNode()

virtual BT::SubTreeNode::~SubTreeNode ( )

overridevirtualdefault

Member Function Documentation

◆ providedPorts()

BT::PortsList BT::SubTreeNode::providedPorts ( )

static

Definition at line 9 of file subtree_node.cpp.

◆ setSubtreeID()

void BT::SubTreeNode::setSubtreeID ( const std::string & ID )

inline

Definition at line 61 of file subtree_node.h.

◆ subtreeID()

const std::string& BT::SubTreeNode::subtreeID ( ) const

inline

Definition at line 66 of file subtree_node.h.

◆ tick()

BT::NodeStatus BT::SubTreeNode::tick ( )

overridevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 20 of file subtree_node.cpp.

◆ type()

virtual NodeType BT::SubTreeNode::type ( ) const

inlinefinaloverridevirtual

Reimplemented from BT::DecoratorNode.

Definition at line 72 of file subtree_node.h.

Member Data Documentation

◆ subtree_id_

std::string BT::SubTreeNode::subtree_id_

private

Definition at line 78 of file subtree_node.h.

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

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members