The AsyncActionNode uses a different thread, where the action will be executed. More...
#include <action_node.h>
Public Member Functions | |
| AsyncActionNode (const std::string &name, const NodeConfiguration &config) | |
| virtual NodeStatus | executeTick () overridefinal |
| 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 overridefinal |
| ~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 |
| template<typename T > | |
| Result | getInput (const std::string &key, T &destination) const |
| template<typename T > | |
| Optional< T > | getInput (const std::string &key) 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) |
| 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::future< NodeStatus > | thread_handle_ |
Additional Inherited Members | |
| Public Types inherited from BT::TreeNode | |
| 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 | setRegistrationID (StringView ID) |
| void | setStatus (NodeStatus new_status) |
| 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.
Definition at line 115 of file action_node.h.
Constructor & Destructor Documentation
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inline |
Definition at line 119 of file action_node.h.
Member Function Documentation
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finaloverridevirtual |
The method that should be used to invoke tick() and setStatus();.
Reimplemented from BT::TreeNode.
Definition at line 168 of file action_node.cpp.
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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 199 of file action_node.cpp.
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inline |
Definition at line 123 of file action_node.h.
Member Data Documentation
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private |
Definition at line 135 of file action_node.h.
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private |
Definition at line 136 of file action_node.h.
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private |
Definition at line 137 of file action_node.h.
The documentation for this class was generated from the following files: