The AsyncActionNode uses a different thread, where the action will be executed. More...

#include <action_node.h>

Inheritance diagram for BT::AsyncActionNode:

[legend]

Public Member Functions
	AsyncActionNode (const std::string &name, const NodeConfiguration &config)

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

virtual void	halt () override

bool	isHaltRequested () const

Public Member Functions inherited from BT::ActionNodeBase
	ActionNodeBase (const std::string &name, const NodeConfiguration &config)

virtual NodeType	type () const override final

	~ActionNodeBase () override=default

Public Member Functions inherited from BT::LeafNode
	LeafNode (const std::string &name, const NodeConfiguration &config)

virtual	~LeafNode () override=default

Public Member Functions inherited from BT::TreeNode
const NodeConfiguration &	config () const

void	emitStateChanged ()

template<typename T >
Optional< T >	getInput (const std::string &key) const

template<typename T >
Result	getInput (const std::string &key, T &destination) const

StringView	getRawPortValue (const std::string &key) const

bool	isHalted () const

const std::string &	name () const
	Name of the instance, not the type. More...

const std::string &	registrationName () const
	registrationName is the ID used by BehaviorTreeFactory to create an instance. More...

template<typename T >
Result	setOutput (const std::string &key, const T &value)

void	setPostTickOverrideFunction (PostTickOverrideCallback callback)

void	setPreTickOverrideFunction (PreTickOverrideCallback 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 (std::string name, NodeConfiguration config)
	TreeNode main constructor. More...

uint16_t	UID () const

BT::NodeStatus	waitValidStatus ()

virtual	~TreeNode ()=default

Private Attributes
std::exception_ptr	exptr_

std::atomic_bool	halt_requested_

std::mutex	mutex_

std::future< void >	thread_handle_

Additional Inherited Members
Public Types inherited from BT::TreeNode
using	PostTickOverrideCallback = std::function< Optional< NodeStatus >(TreeNode &, NodeStatus, NodeStatus)>

using	PreTickOverrideCallback = std::function< Optional< NodeStatus >(TreeNode &, NodeStatus)>

typedef std::shared_ptr< TreeNode >	Ptr

using	StatusChangeCallback = StatusChangeSignal::CallableFunction

using	StatusChangeSignal = Signal< TimePoint, const TreeNode &, NodeStatus, NodeStatus >

using	StatusChangeSubscriber = StatusChangeSignal::Subscriber

Static Public Member Functions inherited from BT::TreeNode
static Optional< StringView >	getRemappedKey (StringView port_name, StringView remapping_value)

static bool	isBlackboardPointer (StringView str)

static StringView	stripBlackboardPointer (StringView str)

Protected Member Functions inherited from BT::TreeNode
void	modifyPortsRemapping (const PortsRemapping &new_remapping)

void	resetStatus ()
	Equivalent to setStatus(NodeStatus::IDLE) More...

void	setRegistrationID (StringView ID)

void	setStatus (NodeStatus new_status)

void	setWakeUpInstance (std::shared_ptr< WakeUpSignal > instance)

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

Detailed Description

The AsyncActionNode uses a different thread, where the action will be executed.

IMPORTANT: this action is quite hard to implement correctly. Please be 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 AsyncActionNode::halt();
remember, with few exceptions, a halted AsyncAction 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::emitStateChanged() will be called.

Definition at line 114 of file action_node.h.

Constructor & Destructor Documentation

◆ AsyncActionNode()

BT::AsyncActionNode::AsyncActionNode	(	const std::string &	name,
		const NodeConfiguration &	config
	)

inline

Definition at line 117 of file action_node.h.

Member Function Documentation

◆ executeTick()

NodeStatus BT::AsyncActionNode::executeTick ( )

finaloverridevirtual

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

Reimplemented from BT::TreeNode.

Definition at line 160 of file action_node.cpp.

◆ halt()

void AsyncActionNode::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 MoveBaseAction, and BT::AsyncActionTest.

Definition at line 204 of file action_node.cpp.

◆ isHaltRequested()

bool BT::AsyncActionNode::isHaltRequested ( ) const

inline

Definition at line 121 of file action_node.h.

Member Data Documentation

◆ exptr_

std::exception_ptr BT::AsyncActionNode::exptr_

private

Definition at line 132 of file action_node.h.

◆ halt_requested_

std::atomic_bool BT::AsyncActionNode::halt_requested_

private

Definition at line 133 of file action_node.h.

◆ mutex_

std::mutex BT::AsyncActionNode::mutex_

private

Definition at line 135 of file action_node.h.

◆ thread_handle_

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

private

Definition at line 134 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

◆ AsyncActionNode()

Member Function Documentation

◆ executeTick()

◆ halt()

◆ isHaltRequested()

Member Data Documentation

◆ exptr_

◆ halt_requested_

◆ mutex_

◆ thread_handle_