The delay node will introduce a delay and then tick the child returning the status of the child as it is upon completion The delay is in milliseconds and it is passed using the port "delay_msec". More...

#include <delay_node.h>

Inheritance diagram for BT::DelayNode:

[legend]

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

	DelayNode (const std::string &name, unsigned milliseconds)

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

	~DelayNode () override

Public Member Functions inherited from BT::DecoratorNode
TreeNode *	child ()

const TreeNode *	child () const

	DecoratorNode (const std::string &name, const NodeConfiguration &config)

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

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

void	resetChild ()

void	setChild (TreeNode *child)

virtual NodeType	type () const override

virtual	~DecoratorNode () 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

Static Public Member Functions
static PortsList	providedPorts ()

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)

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

Private Attributes
bool	delay_aborted_

bool	delay_complete_

std::mutex	delay_mutex_

bool	delay_started_

unsigned	msec_

bool	read_parameter_from_ports_

TimerQueue	timer_

uint64_t	timer_id_

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

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)

Protected Attributes inherited from BT::DecoratorNode
TreeNode *	child_node_

Detailed Description

The delay node will introduce a delay and then tick the child returning the status of the child as it is upon completion The delay is in milliseconds and it is passed using the port "delay_msec".

During the delay the node changes status to RUNNING

Example:

Definition at line 22 of file delay_node.h.

Constructor & Destructor Documentation

◆ DelayNode() [1/2]

BT::DelayNode::DelayNode	(	const std::string &	name,
		unsigned	milliseconds
	)

Definition at line 8 of file delay_node.cpp.

◆ DelayNode() [2/2]

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

Definition at line 18 of file delay_node.cpp.

◆ ~DelayNode()

BT::DelayNode::~DelayNode ( )

inlineoverride

Definition at line 29 of file delay_node.h.

Member Function Documentation

◆ halt()

void BT::DelayNode::halt ( )

inlineoverridevirtual

The method used to interrupt the execution of this node.

Reimplemented from BT::DecoratorNode.

Definition at line 38 of file delay_node.h.

◆ providedPorts()

static PortsList BT::DelayNode::providedPorts ( )

inlinestatic

Definition at line 34 of file delay_node.h.

◆ tick()

NodeStatus BT::DelayNode::tick ( )

overrideprivatevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 26 of file delay_node.cpp.

Member Data Documentation

◆ delay_aborted_

bool BT::DelayNode::delay_aborted_

private

Definition at line 53 of file delay_node.h.

◆ delay_complete_

bool BT::DelayNode::delay_complete_

private

Definition at line 52 of file delay_node.h.

◆ delay_mutex_

std::mutex BT::DelayNode::delay_mutex_

private

Definition at line 56 of file delay_node.h.

◆ delay_started_

bool BT::DelayNode::delay_started_

private

Definition at line 51 of file delay_node.h.

◆ msec_

unsigned BT::DelayNode::msec_

private

Definition at line 54 of file delay_node.h.

◆ read_parameter_from_ports_

bool BT::DelayNode::read_parameter_from_ports_

private

Definition at line 55 of file delay_node.h.

◆ timer_

TimerQueue BT::DelayNode::timer_

private

Definition at line 46 of file delay_node.h.

◆ timer_id_

uint64_t BT::DelayNode::timer_id_

private

Definition at line 47 of file delay_node.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DelayNode() [1/2]

◆ DelayNode() [2/2]

◆ ~DelayNode()

Member Function Documentation

◆ halt()

◆ providedPorts()

◆ tick()

Member Data Documentation

◆ delay_aborted_

◆ delay_complete_

◆ delay_mutex_

◆ delay_started_

◆ msec_

◆ read_parameter_from_ports_

◆ timer_

◆ timer_id_