BT::StatefulActionNode Class Reference

The ActionNode is the prefered way to implement asynchronous Actions. It is actually easier to use correctly, when compared with AsyncAction. More...

#include <action_node.h>

Inheritance diagram for BT::StatefulActionNode:

Public Member Functions
void	halt () override final
virtual void	onHalted ()=0
virtual NodeStatus	onRunning ()=0
	method invoked by a RUNNING action. More...
virtual NodeStatus	onStart ()=0
	StatefulActionNode (const std::string &name, const NodeConfiguration &config)
NodeStatus	tick () override final
	Method to be implemented by the user. More...
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 ()
virtual BT::NodeStatus	executeTick ()
	The method that should be used to invoke tick() and setStatus();. More...
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

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)

Detailed Description

The ActionNode is the prefered way to implement asynchronous Actions. It is actually easier to use correctly, when compared with AsyncAction.

It is particularly useful when your code contains a request-reply pattern, i.e. when the actions sends an asychronous request, then checks periodically if the reply has been received and, eventually, analyze the reply to determine if the result is SUCCESS or FAILURE.

-) an action that was in IDLE state will call onStart()

-) A RUNNING action will call onRunning()

-) if halted, method onHalted() is invoked

Definition at line 153 of file action_node.h.

Constructor & Destructor Documentation

StatefulActionNode()

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

inline

Definition at line 156 of file action_node.h.

Member Function Documentation

halt()

void StatefulActionNode::halt ( )

finaloverridevirtual

The method used to interrupt the execution of a RUNNING node. Only Async nodes that may return RUNNING should implement it.

Implements BT::TreeNode.

Definition at line 152 of file action_node.cpp.

onHalted()

virtual void BT::StatefulActionNode::onHalted ( )

pure virtual

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.

Implemented in DummyNodes::SleepNode, and SleepNode.

onRunning()

virtual NodeStatus BT::StatefulActionNode::onRunning ( )

pure virtual

method invoked by a RUNNING action.

Implemented in DummyNodes::SleepNode, and SleepNode.

onStart()

virtual NodeStatus BT::StatefulActionNode::onStart ( )

pure virtual

method to be called at the beginning. If it returns RUNNING, this becomes an asychronous node.

Implemented in DummyNodes::SleepNode, and SleepNode.

tick()

NodeStatus StatefulActionNode::tick ( )

finaloverridevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 124 of file action_node.cpp.

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

• action_node.h
• action_node.cpp