set_blackboard_node.h
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1 /* Copyright (C) 2018-2019 Davide Faconti, Eurecat - All Rights Reserved
2 *
3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
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12 
13 #ifndef ACTION_SETBLACKBOARD_NODE_H
14 #define ACTION_SETBLACKBOARD_NODE_H
15 
17 
18 namespace BT
19 {
31 {
32  public:
33  SetBlackboard(const std::string& name, const NodeConfiguration& config)
34  : SyncActionNode(name, config)
35  {
36  setRegistrationID("SetBlackboard");
37  }
38 
40  {
41  return { InputPort("value", "Value represented as a string. convertFromString must be implemented."),
42  BidirectionalPort("output_key", "Name of the blackboard entry where the value should be written") };
43  }
44 
45  private:
46  virtual BT::NodeStatus tick() override
47  {
48  std::string key, value;
49  if ( !getInput("output_key", key) )
50  {
51  throw RuntimeError("missing port [output_key]");
52  }
53  if ( !getInput("value", value) )
54  {
55  throw RuntimeError("missing port [value]");
56  }
57  setOutput("output_key", value);
58  return NodeStatus::SUCCESS;
59  }
60 };
61 }
62 
63 #endif
const std::string & name() const
Name of the instance, not the type.
Definition: tree_node.cpp:73
SetBlackboard(const std::string &name, const NodeConfiguration &config)
const NodeConfiguration & config() const
Definition: tree_node.cpp:99
std::pair< std::string, PortInfo > BidirectionalPort(StringView name, StringView description={})
Definition: basic_types.h:286
Result setOutput(const std::string &key, const T &value)
Definition: tree_node.h:236
The SyncActionNode is an ActionNode that explicitly prevents the status RUNNING and doesn&#39;t require a...
Definition: action_node.h:52
virtual BT::NodeStatus tick() override
Method to be implemented by the user.
The SetBlackboard is action used to store a string into an entry of the Blackboard specified in "outp...
Result getInput(const std::string &key, T &destination) const
Definition: tree_node.h:185
static PortsList providedPorts()
std::unordered_map< std::string, PortInfo > PortsList
Definition: basic_types.h:316
void setRegistrationID(StringView ID)
Definition: tree_node.h:158
NodeStatus
Definition: basic_types.h:35
std::pair< std::string, PortInfo > InputPort(StringView name, StringView description={})
Definition: basic_types.h:274


behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sat Jun 8 2019 18:04:05