dummy_nodes.h

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#ifndef SIMPLE_BT_NODES_H
#define SIMPLE_BT_NODES_H
 
#include "behaviortree_cpp_v3/behavior_tree.h"
#include "behaviortree_cpp_v3/bt_factory.h"
 
namespace DummyNodes
{
 
using BT::NodeStatus;
 
NodeStatus CheckBattery();
 
NodeStatus CheckTemperature();
NodeStatus SayHello();
 
class GripperInterface
{
  public:
    GripperInterface() : _opened(true)
    {
    }
 
    NodeStatus open();
 
    NodeStatus close();
 
  private:
    bool _opened;
};
 
//--------------------------------------
 
// Example of custom SyncActionNode (synchronous action)
// without ports.
class ApproachObject : public BT::SyncActionNode
{
  public:
    ApproachObject(const std::string& name) :
        BT::SyncActionNode(name, {})
    {
    }
 
    // You must override the virtual function tick()
    NodeStatus tick() override;
};
 
// Example of custom SyncActionNode (synchronous action)
// with an input port.
class SaySomething : public BT::SyncActionNode
{
  public:
    SaySomething(const std::string& name, const BT::NodeConfiguration& config)
      : BT::SyncActionNode(name, config)
    {
    }
 
    // You must override the virtual function tick()
    NodeStatus tick() override;
 
    // It is mandatory to define this static method.
    static BT::PortsList providedPorts()
    {
        return{ BT::InputPort<std::string>("message") };
    }
};
 
//Same as class SaySomething, but to be registered with SimpleActionNode
NodeStatus SaySomethingSimple(BT::TreeNode& self);
 
// Example os Asynchronous node that use StatefulActionNode as base class
class SleepNode : public BT::StatefulActionNode
{
  public:
    SleepNode(const std::string& name, const BT::NodeConfiguration& config)
      : BT::StatefulActionNode(name, config)
    {}
 
    static BT::PortsList providedPorts()
    {
        // amount of milliseconds that we want to sleep
        return{ BT::InputPort<int>("msec") };
    }
 
    NodeStatus onStart() override
    {
        int msec = 0;
        getInput("msec", msec);
        if( msec <= 0 )
        {
            // no need to go into the RUNNING state
            return NodeStatus::SUCCESS;
        }
        else {
            using namespace std::chrono;
            // once the deadline is reached, we will return SUCCESS.
            deadline_ = system_clock::now() + milliseconds(msec);
            return NodeStatus::RUNNING;
        }
    }
 
    NodeStatus onRunning() override
    {
        if ( std::chrono::system_clock::now() >= deadline_ )
        {
            return NodeStatus::SUCCESS;
        }
        else {
            return NodeStatus::RUNNING;
        }
    }
 
    void onHalted() override
    {
        // nothing to do here...
        std::cout << "SleepNode interrupted" << std::endl;
    }
 
  private:
    std::chrono::system_clock::time_point deadline_;
};
 
inline void RegisterNodes(BT::BehaviorTreeFactory& factory)
{
    static GripperInterface grip_singleton;
 
    factory.registerSimpleCondition("CheckBattery", std::bind(CheckBattery));
    factory.registerSimpleCondition("CheckTemperature", std::bind(CheckTemperature));
    factory.registerSimpleAction("SayHello", std::bind(SayHello));
    factory.registerSimpleAction("OpenGripper", std::bind(&GripperInterface::open, &grip_singleton));
    factory.registerSimpleAction("CloseGripper", std::bind(&GripperInterface::close, &grip_singleton));
    factory.registerNodeType<ApproachObject>("ApproachObject");
    factory.registerNodeType<SaySomething>("SaySomething");
}
 
} // end namespace
 
#endif   // SIMPLE_BT_NODES_H