set_blackboard_node.h

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/*  Copyright (C) 2018-2019 Davide Faconti, Eurecat -  All Rights Reserved
*
*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
*   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/

#ifndef ACTION_SETBLACKBOARD_NODE_H
#define ACTION_SETBLACKBOARD_NODE_H

#include "behaviortree_cpp/action_node.h"

namespace BT
{
class SetBlackboard : public SyncActionNode
{
  public:
    SetBlackboard(const std::string& name, const NodeConfiguration& config)
      : SyncActionNode(name, config)
    {
        setRegistrationID("SetBlackboard");
    }

    static PortsList providedPorts()
    {
        return { InputPort("value", "Value represented as a string. convertFromString must be implemented."),
                 BidirectionalPort("output_key", "Name of the blackboard entry where the value should be written") };
    }

  private:
    virtual BT::NodeStatus tick() override
    {
        std::string key, value;
        if ( !getInput("output_key", key) )
        {
            throw RuntimeError("missing port [output_key]");
        }
        if ( !getInput("value", value) )
        {
            throw RuntimeError("missing port [value]");
        }
        setOutput("output_key", value);
        return NodeStatus::SUCCESS;
    }
};
}

#endif