The TimeoutNode will halt() a running child if the latter has been RUNNING for more than a give time. The timeout is in milliseconds and it is passed using the port "msec". More...

#include <timeout_node.h>

Inheritance diagram for BT::TimeoutNode< _Clock, _Duration >:

[legend]

Public Member Functions
	TimeoutNode (const std::string &name, unsigned milliseconds)

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

	~TimeoutNode () 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...

virtual void	halt () override
	The method used to interrupt the execution of this node. 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
std::atomic< bool >	child_halted_

unsigned	msec_

bool	read_parameter_from_ports_

std::mutex	timeout_mutex_

bool	timeout_started_

TimerQueue< _Clock, _Duration >	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

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>
class BT::TimeoutNode< _Clock, _Duration >

The TimeoutNode will halt() a running child if the latter has been RUNNING for more than a give time. The timeout is in milliseconds and it is passed using the port "msec".

If timeout is reached it returns FAILURE.

Example:

Definition at line 24 of file timeout_node.h.

Constructor & Destructor Documentation

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>

BT::TimeoutNode< _Clock, _Duration >::TimeoutNode	(	const std::string &	name,
		unsigned	milliseconds
	)

inline

Definition at line 27 of file timeout_node.h.

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>

BT::TimeoutNode< _Clock, _Duration >::TimeoutNode	(	const std::string &	name,
		const NodeConfiguration &	config
	)

inline

Definition at line 38 of file timeout_node.h.

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>

BT::TimeoutNode< _Clock, _Duration >::~TimeoutNode ( )

inlineoverride

Definition at line 48 of file timeout_node.h.

Member Function Documentation

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>

static PortsList BT::TimeoutNode< _Clock, _Duration >::providedPorts ( )

inlinestatic

Definition at line 53 of file timeout_node.h.

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>

virtual BT::NodeStatus BT::TimeoutNode< _Clock, _Duration >::tick ( )

inlineoverrideprivatevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 62 of file timeout_node.h.

Member Data Documentation

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>

std::atomic<bool> BT::TimeoutNode< _Clock, _Duration >::child_halted_

private

Definition at line 114 of file timeout_node.h.

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>

unsigned BT::TimeoutNode< _Clock, _Duration >::msec_

private

Definition at line 117 of file timeout_node.h.

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>

bool BT::TimeoutNode< _Clock, _Duration >::read_parameter_from_ports_

private

Definition at line 118 of file timeout_node.h.

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>

std::mutex BT::TimeoutNode< _Clock, _Duration >::timeout_mutex_

private

Definition at line 120 of file timeout_node.h.

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>

bool BT::TimeoutNode< _Clock, _Duration >::timeout_started_

private

Definition at line 119 of file timeout_node.h.

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>

TimerQueue<_Clock, _Duration> BT::TimeoutNode< _Clock, _Duration >::timer_

private

Definition at line 60 of file timeout_node.h.

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>

uint64_t BT::TimeoutNode< _Clock, _Duration >::timer_id_

private

Definition at line 115 of file timeout_node.h.

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

timeout_node.h

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration> class BT::TimeoutNode< _Clock, _Duration >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename _Clock = std::chrono::steady_clock, typename _Duration = std::chrono::steady_clock::duration>
class BT::TimeoutNode< _Clock, _Duration >