The TestNode is a Node that can be configure to: More...

#include <test_node.h>

Inheritance diagram for BT::TestNode:

[legend]

Public Member Functions
	TestNode (const std::string &name, const NodeConfig &config, TestNodeConfig test_config)

Public Member Functions inherited from BT::StatefulActionNode
bool	isHaltRequested () const

	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 ()

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)

Protected Member Functions
NodeStatus	onCompleted ()

virtual void	onHalted () override

virtual NodeStatus	onRunning () override
	method invoked when the action is already in the RUNNING state. More...

virtual NodeStatus	onStart () override

Protected Member Functions inherited from BT::StatefulActionNode
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)

Protected Attributes
std::atomic_bool	_completed = false

ScriptFunction	_failure_executor

ScriptFunction	_post_executor

ScriptFunction	_success_executor

TestNodeConfig	_test_config

TimerQueue	_timer

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_)>

Detailed Description

The TestNode is a Node that can be configure to:

Return a specific status (SUCCESS / FAILURE)
Execute a post condition script (unless halted)
Either complete immediately (synchronous action), or after a given period of time (asynchronous action)

This behavior is changed by the parameters pased with TestNodeConfig.

This particular node is created by the factory when TestNodeConfig is added as a substitution rule:

TestNodeConfig test_config; // change fields of test_config factory.addSubstitutionRule(pattern, test_config);

See tutorial 11 for more details.

Definition at line 64 of file test_node.h.

Constructor & Destructor Documentation

◆ TestNode()

TestNode::TestNode	(	const std::string &	name,
		const NodeConfig &	config,
		TestNodeConfig	test_config
	)

Definition at line 3 of file test_node.cpp.

Member Function Documentation

◆ onCompleted()

BT::NodeStatus TestNode::onCompleted ( )

protected

Definition at line 67 of file test_node.cpp.

◆ onHalted()

void TestNode::onHalted ( )

overrideprotectedvirtual

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.

Implements BT::StatefulActionNode.

Definition at line 62 of file test_node.cpp.

◆ onRunning()

BT::NodeStatus TestNode::onRunning ( )

overrideprotectedvirtual

method invoked when the action is already in the RUNNING state.

Implements BT::StatefulActionNode.

Definition at line 53 of file test_node.cpp.

◆ onStart()

BT::NodeStatus TestNode::onStart ( )

overrideprotectedvirtual

Method called once, when transitioning from the state IDLE. If it returns RUNNING, this becomes an asynchronous node.

Implements BT::StatefulActionNode.

Definition at line 30 of file test_node.cpp.

◆ providedPorts()

static PortsList BT::TestNode::providedPorts ( )

inlinestatic

Definition at line 69 of file test_node.h.

Member Data Documentation

◆ _completed

std::atomic_bool BT::TestNode::_completed = false

protected

Definition at line 88 of file test_node.h.

◆ _failure_executor

ScriptFunction BT::TestNode::_failure_executor

protected

Definition at line 85 of file test_node.h.

◆ _post_executor

ScriptFunction BT::TestNode::_post_executor

protected

Definition at line 86 of file test_node.h.

◆ _success_executor

ScriptFunction BT::TestNode::_success_executor

protected

Definition at line 84 of file test_node.h.

◆ _test_config

TestNodeConfig BT::TestNode::_test_config

protected

Definition at line 83 of file test_node.h.

◆ _timer

TimerQueue BT::TestNode::_timer

protected

Definition at line 87 of file test_node.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TestNode()

Member Function Documentation

◆ onCompleted()

◆ onHalted()

◆ onRunning()

◆ onStart()

◆ providedPorts()

Member Data Documentation

◆ _completed

◆ _failure_executor

◆ _post_executor

◆ _success_executor

◆ _test_config

◆ _timer