The delay node will introduce a delay of a few milliseconds 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, unsigned milliseconds)

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

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

	~DelayNode () override

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

TreeNode *	child ()

	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 ()
	Halt() the child node. More...

void	setChild (TreeNode *child)

virtual NodeType	type () const override

virtual	~DecoratorNode () 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

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
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	setRegistrationID (StringView ID)

void	setStatus (NodeStatus new_status)

Protected Attributes inherited from BT::DecoratorNode
TreeNode *	child_node_

Detailed Description

The delay node will introduce a delay of a few milliseconds 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 24 of file delay_node.h.

Constructor & Destructor Documentation

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

Definition at line 8 of file delay_node.cpp.

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

Definition at line 18 of file delay_node.cpp.

BT::DelayNode::~DelayNode ( )

inlineoverride

Definition at line 31 of file delay_node.h.

Member Function Documentation

void BT::DelayNode::halt ( )

inlineoverridevirtual

The method used to interrupt the execution of this node.

Reimplemented from BT::DecoratorNode.

Definition at line 40 of file delay_node.h.

static PortsList BT::DelayNode::providedPorts ( )

inlinestatic

Definition at line 36 of file delay_node.h.

NodeStatus BT::DelayNode::tick ( )

overrideprivatevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 27 of file delay_node.cpp.

Member Data Documentation

bool BT::DelayNode::delay_aborted_

private

Definition at line 55 of file delay_node.h.

bool BT::DelayNode::delay_complete_

private

Definition at line 54 of file delay_node.h.

std::mutex BT::DelayNode::delay_mutex_

private

Definition at line 58 of file delay_node.h.

bool BT::DelayNode::delay_started_

private

Definition at line 53 of file delay_node.h.

unsigned BT::DelayNode::msec_

private

Definition at line 56 of file delay_node.h.

bool BT::DelayNode::read_parameter_from_ports_

private

Definition at line 57 of file delay_node.h.

TimerQueue BT::DelayNode::timer_

private

Definition at line 48 of file delay_node.h.

uint64_t BT::DelayNode::timer_id_

private

Definition at line 49 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

Member Function Documentation

Member Data Documentation