Abstract base class for Behavior Tree Nodes. More...

#include <tree_node.h>

Inheritance diagram for BT::TreeNode:

[legend]

Public Types
typedef std::shared_ptr< TreeNode >	Ptr

using	StatusChangeCallback = StatusChangeSignal::CallableFunction

using	StatusChangeSignal = Signal< TimePoint, const TreeNode &, NodeStatus, NodeStatus >

using	StatusChangeSubscriber = StatusChangeSignal::Subscriber

Public Member Functions
const NodeConfiguration &	config () const

virtual BT::NodeStatus	executeTick ()
	The method that should be used to invoke tick() and setStatus();. More...

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

virtual void	halt ()=0

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...

virtual NodeType	type () const =0

uint16_t	UID () const

BT::NodeStatus	waitValidStatus ()

virtual	~TreeNode ()=default

Static Public Member Functions
static Optional< StringView >	getRemappedKey (StringView port_name, StringView remapping_value)

static bool	isBlackboardPointer (StringView str)

static StringView	stripBlackboardPointer (StringView str)

Protected Member Functions
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...

Private Attributes
NodeConfiguration	config_

const std::string	name_

std::string	registration_ID_

StatusChangeSignal	state_change_signal_

std::condition_variable	state_condition_variable_

std::mutex	state_mutex_

NodeStatus	status_

const uint16_t	uid_

Friends
class	BehaviorTreeFactory

class	ControlNode

class	DecoratorNode

class	Tree

Detailed Description

Abstract base class for Behavior Tree Nodes.

Definition at line 53 of file tree_node.h.

Member Typedef Documentation

typedef std::shared_ptr<TreeNode> BT::TreeNode::Ptr

Definition at line 56 of file tree_node.h.

using BT::TreeNode::StatusChangeCallback = StatusChangeSignal::CallableFunction

Definition at line 94 of file tree_node.h.

using BT::TreeNode::StatusChangeSignal = Signal<TimePoint, const TreeNode&, NodeStatus, NodeStatus>

Definition at line 92 of file tree_node.h.

using BT::TreeNode::StatusChangeSubscriber = StatusChangeSignal::Subscriber

Definition at line 93 of file tree_node.h.

Constructor & Destructor Documentation

BT::TreeNode::TreeNode	(	std::string	name,
		NodeConfiguration	config
	)

TreeNode main constructor.

Parameters

name	name of the instance, not the type.
config	information about input/output ports. See NodeConfiguration

Note: If your custom node has ports, the derived class must implement:

static PortsList providedPorts();

Definition at line 25 of file tree_node.cpp.

virtual BT::TreeNode::~TreeNode ( )

virtualdefault

Member Function Documentation

const NodeConfiguration & BT::TreeNode::config ( ) const

Configuration passed at construction time. Can never change after the creation of the TreeNode instance.

Definition at line 99 of file tree_node.cpp.

NodeStatus BT::TreeNode::executeTick ( )

virtual

The method that should be used to invoke tick() and setStatus();.

Reimplemented in BT::CoroActionNode, BT::AsyncActionNode, BT::SyncActionNode, and BT::DecoratorNode.

Definition at line 33 of file tree_node.cpp.

template<typename T >

Result BT::TreeNode::getInput	(	const std::string &	key,
		T &	destination
	)		const

inline

Read an input port, which, in practice, is an entry in the blackboard. If the blackboard contains a std::string and T is not a string, convertFromString<T>() is used automatically to parse the text.

Parameters

key	the identifier (before remapping) of the port.

Returns: false if an error occurs.

Definition at line 192 of file tree_node.h.

template<typename T >

Optional<T> BT::TreeNode::getInput ( const std::string & key ) const

inline

Same as bool getInput(const std::string& key, T& destination) but using optional.

Definition at line 131 of file tree_node.h.

StringView BT::TreeNode::getRawPortValue ( const std::string & key ) const

Definition at line 104 of file tree_node.cpp.

Optional< StringView > BT::TreeNode::getRemappedKey	(	StringView	port_name,
		StringView	remapping_value
	)

static

Definition at line 147 of file tree_node.cpp.

virtual void BT::TreeNode::halt ( )

pure virtual

The method used to interrupt the execution of a RUNNING node. Only Async nodes that may return RUNNING should implement it.

Implemented in BT::CoroActionNode, BT::StatefulActionNode, FollowPath, BT::AsyncActionNode, MyAsyncAction, MoveBaseAction, BT::SyncActionNode, BT::RepeatNode, BT::SwitchNode< NUM_CASES >, BT::RetryNode, BT::AsyncActionTest, BT::ControlNode, BT::IfThenElseNode, BT::SequenceStarNode, BT::SequenceNode, BT::WhileDoElseNode, BT::FallbackNode, BT::ParallelNode, BT::DelayNode, BT::ManualSelectorNode, BT::ConditionNode, BT::DecoratorNode, and SimpleCoroAction.

bool BT::TreeNode::isBlackboardPointer ( StringView str )

static

Check a string and return true if it matches either one of these two patterns: {...} or ${...}

Definition at line 117 of file tree_node.cpp.

bool BT::TreeNode::isHalted ( ) const

Definition at line 78 of file tree_node.cpp.

void BT::TreeNode::modifyPortsRemapping ( const PortsRemapping & new_remapping )

protected

Definition at line 160 of file tree_node.cpp.

const std::string & BT::TreeNode::name ( ) const

Name of the instance, not the type.

Definition at line 73 of file tree_node.cpp.

const std::string & BT::TreeNode::registrationName ( ) const

registrationName is the ID used by BehaviorTreeFactory to create an instance.

Definition at line 94 of file tree_node.cpp.

template<typename T >

Result BT::TreeNode::setOutput	(	const std::string &	key,
		const T &	value
	)

inline

Definition at line 243 of file tree_node.h.

void BT::TreeNode::setRegistrationID ( StringView ID )

inlineprotected

Definition at line 163 of file tree_node.h.

void BT::TreeNode::setStatus ( NodeStatus new_status )

protected

Definition at line 40 of file tree_node.cpp.

NodeStatus BT::TreeNode::status ( ) const

Definition at line 56 of file tree_node.cpp.

StringView BT::TreeNode::stripBlackboardPointer ( StringView str )

static

Definition at line 132 of file tree_node.cpp.

TreeNode::StatusChangeSubscriber BT::TreeNode::subscribeToStatusChange ( TreeNode::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.

Parameters

callback The callback to be execute when status change.

Returns: the subscriber handle.

Definition at line 84 of file tree_node.cpp.

virtual BT::NodeStatus BT::TreeNode::tick ( )

protectedpure virtual

Method to be implemented by the user.

Implemented in ReadInConstructor, BT::StatefulActionNode, FollowPath, ComputePathToPose, BackUpAndSpin, BT::SimpleActionNode, NodeOutPorts, BT::SubtreePlusNode, IsStuck, BT::SwitchNode< NUM_CASES >, NodeInPorts, PrintTarget, BT::SimpleConditionNode, MoveBaseAction, BT::RetryNode, BT::TimeoutNode< _Clock, _Duration >, BT::SimpleDecoratorNode, BB_TypedTestNode, BT::RepeatNode, ThinkWhatToSay, BT::ParallelNode, BT::BlackboardPreconditionNode< T >, DummyNodes::SaySomething, Action_B, CopyPorts, BT::DelayNode, BT::SequenceStarNode, BT::IfThenElseNode, BT::SetBlackboard, BT::SequenceNode, BT::FallbackNode, BT::WhileDoElseNode, CalculateGoal, BT::ReactiveFallback, SimpleCoroAction, BT::ReactiveSequence, DummyNodes::ApproachObject, BT::AsyncActionTest, BT::ManualSelectorNode, SayRuntimePort, BT::InverterNode, BT::KeepRunningUntilFailureNode, BT::AlwaysFailureNode, BT::AlwaysSuccessNode, BT::ForceFailureNode, BT::ForceSuccessNode, BB_TestNode, Action_A, MyAsyncAction, ThinkRuntimePort, BT::SubtreeNode, BT::ConditionTestNode, NodeWithPorts, and BT::SyncActionTest.

virtual NodeType BT::TreeNode::type ( ) const

pure virtual

Implemented in BT::SubtreePlusNode, BT::ControlNode, BT::ActionNodeBase, BT::ConditionNode, BT::SubtreeNode, and BT::DecoratorNode.

uint16_t BT::TreeNode::UID ( ) const

Definition at line 89 of file tree_node.cpp.

NodeStatus BT::TreeNode::waitValidStatus ( )

Blocking function that will sleep until the setStatus() is called with either RUNNING, FAILURE or SUCCESS.

Definition at line 62 of file tree_node.cpp.

Friends And Related Function Documentation

friend class BehaviorTreeFactory

friend

Definition at line 157 of file tree_node.h.

friend class ControlNode

friend

Definition at line 159 of file tree_node.h.

friend class DecoratorNode

friend

Definition at line 158 of file tree_node.h.

friend class Tree

friend

Definition at line 160 of file tree_node.h.

Member Data Documentation

NodeConfiguration BT::TreeNode::config_

private

Definition at line 185 of file tree_node.h.

const std::string BT::TreeNode::name_

private

Definition at line 173 of file tree_node.h.

std::string BT::TreeNode::registration_ID_

private

Definition at line 187 of file tree_node.h.

StatusChangeSignal BT::TreeNode::state_change_signal_

private

Definition at line 181 of file tree_node.h.

std::condition_variable BT::TreeNode::state_condition_variable_

private

Definition at line 177 of file tree_node.h.

std::mutex BT::TreeNode::state_mutex_

mutableprivate

Definition at line 179 of file tree_node.h.

NodeStatus BT::TreeNode::status_

private

Definition at line 175 of file tree_node.h.

const uint16_t BT::TreeNode::uid_

private

Definition at line 183 of file tree_node.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation