The ThreadedAction executes the tick in a different thread. More...

#include <action_node.h>

Inheritance diagram for BT::ThreadedAction:

[legend]

Public Member Functions
virtual NodeStatus	executeTick () override final
	The method that should be used to invoke tick() and setStatus();. More...

virtual void	halt () override

bool	isHaltRequested () const

	ThreadedAction (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...

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 ()

Private Attributes
std::exception_ptr	exptr_

std::atomic_bool	halt_requested_ = false

std::mutex	mutex_

std::future< void >	thread_handle_

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_)>

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)

virtual BT::NodeStatus	tick ()=0
	Method to be implemented by the user. More...

Detailed Description

The ThreadedAction executes the tick in a different thread.

IMPORTANT: this action is quite hard to implement correctly. Please make sure that you know what you are doing.

In your overriden tick() method, you must check periodically the result of the method isHaltRequested() and stop your execution accordingly.
in the overriden halt() method, you can do some cleanup, but do not forget to invoke the base class method ThreadedAction::halt();
remember, with few exceptions, a halted ThreadedAction must return NodeStatus::IDLE.

For a complete example, look at AsyncActionTest in action_test_node.h in the folder test.

NOTE: when the thread is completed, i.e. the tick() returns its status, a TreeNode::emitWakeUpSignal() will be called.

Definition at line 116 of file action_node.h.

Constructor & Destructor Documentation

◆ ThreadedAction()

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

inline

Definition at line 119 of file action_node.h.

Member Function Documentation

◆ executeTick()

NodeStatus BT::ThreadedAction::executeTick ( )

finaloverridevirtual

The method that should be used to invoke tick() and setStatus();.

Reimplemented from BT::TreeNode.

Definition at line 189 of file action_node.cpp.

◆ halt()

void ThreadedAction::halt ( )

overridevirtual

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 BT::AsyncActionTest.

Definition at line 233 of file action_node.cpp.

◆ isHaltRequested()

bool BT::ThreadedAction::isHaltRequested ( ) const

inline

Definition at line 123 of file action_node.h.

Member Data Documentation

◆ exptr_

std::exception_ptr BT::ThreadedAction::exptr_

private

Definition at line 134 of file action_node.h.

◆ halt_requested_

std::atomic_bool BT::ThreadedAction::halt_requested_ = false

private

Definition at line 135 of file action_node.h.

◆ mutex_

std::mutex BT::ThreadedAction::mutex_

private

Definition at line 137 of file action_node.h.

◆ thread_handle_

std::future<void> BT::ThreadedAction::thread_handle_

private

Definition at line 136 of file action_node.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ThreadedAction()

Member Function Documentation

◆ executeTick()

◆ halt()

◆ isHaltRequested()

Member Data Documentation

◆ exptr_

◆ halt_requested_

◆ mutex_

◆ thread_handle_