The ParallelNode execute all its children concurrently, but not in separate threads! More...

#include <parallel_node.h>

Inheritance diagram for BT::ParallelNode:

Collaboration diagram for BT::ParallelNode:

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Public Member Functions
	ParallelNode (const std::string &name)

	ParallelNode (const std::string &name, const NodeConfig &config)

	ParallelNode (const ParallelNode &)=delete

ParallelNode &	operator= (const ParallelNode &)=delete

	ParallelNode (ParallelNode &&)=delete

ParallelNode &	operator= (ParallelNode &&)=delete

virtual void	halt () override

size_t	successThreshold () const

size_t	failureThreshold () const

void	setSuccessThreshold (int threshold)

void	setFailureThreshold (int threshold)

Public Member Functions inherited from BT::ControlNode
	ControlNode (const std::string &name, const NodeConfig &config)

	ControlNode (const ControlNode &)=delete

ControlNode &	operator= (const ControlNode &)=delete

	ControlNode (ControlNode &&)=delete

ControlNode &	operator= (ControlNode &&)=delete

void	addChild (TreeNode *child)
	The method used to add nodes to the children vector.

size_t	childrenCount () const

const std::vector< TreeNode * > &	children () const

const TreeNode *	child (size_t index) const

virtual void	halt () override

void	haltChildren ()
	same as resetChildren()

void	haltChildren (size_t first)

void	haltChild (size_t i)

virtual NodeType	type () const override final

void	resetChildren ()

Public Member Functions inherited from BT::TreeNode
	TreeNode (std::string name, NodeConfig config)
	TreeNode main constructor.

	TreeNode (const TreeNode &other)=delete

TreeNode &	operator= (const TreeNode &other)=delete

	TreeNode (TreeNode &&other) noexcept

TreeNode &	operator= (TreeNode &&other) noexcept

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

void	haltNode ()

bool	isHalted () const

NodeStatus	status () const

const std::string &	name () const
	Name of the instance, not the type.

BT::NodeStatus	waitValidStatus ()

virtual NodeType	type () const =0

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.

void	setPreTickFunction (PreTickCallback callback)

void	setPostTickFunction (PostTickCallback callback)

void	setTickMonitorCallback (TickMonitorCallback callback)

uint16_t	UID () const

const std::string &	fullPath () const

const std::string &	registrationName () const
	registrationName is the ID used by BehaviorTreeFactory to create an instance.

const NodeConfig &	config () const

template<typename T >
Result	getInput (const std::string &key, T &destination) const

template<typename T >
Expected< Timestamp >	getInputStamped (const std::string &key, T &destination) const
	getInputStamped is similar to getInput(dey, destination), but it returns also the Timestamp object, that can be used to check if a value was updated and when.

template<typename T >
Expected< T >	getInput (const std::string &key) const

template<typename T >
Expected< StampedValue< T > >	getInputStamped (const std::string &key) const

template<typename T >
Result	setOutput (const std::string &key, const T &value)
	setOutput modifies the content of an Output port

AnyPtrLocked	getLockedPortContent (const std::string &key)
	getLockedPortContent should be used when:

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

void	emitWakeUpSignal ()
	Notify that the tree should be ticked again()

bool	requiresWakeUp () const

Static Public Member Functions
static PortsList	providedPorts ()

Static Public Member Functions inherited from BT::TreeNode
static bool	isBlackboardPointer (StringView str, StringView *stripped_pointer=nullptr)
	Check a string and return true if it matches the pattern: {...}.

static StringView	stripBlackboardPointer (StringView str)

static Expected< StringView >	getRemappedKey (StringView port_name, StringView remapped_port)

template<class DerivedT , typename... ExtraArgs>
static std::unique_ptr< TreeNode >	Instantiate (const std::string &name, const NodeConfig &config, ExtraArgs... args)

Additional Inherited Members
Public Types inherited from BT::TreeNode
typedef std::shared_ptr< TreeNode >	Ptr

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

using	StatusChangeSubscriber = StatusChangeSignal::Subscriber

using	StatusChangeCallback = StatusChangeSignal::CallableFunction

using	PreTickCallback = std::function< NodeStatus(TreeNode &)>

using	PostTickCallback = std::function< NodeStatus(TreeNode &, NodeStatus)>

using	TickMonitorCallback = std::function< void(TreeNode &, NodeStatus, std::chrono::microseconds)>

Protected Types inherited from BT::TreeNode
using	PreScripts = std::array< ScriptFunction, size_t(PreCond::COUNT_)>

using	PostScripts = std::array< ScriptFunction, size_t(PostCond::COUNT_)>

Protected Member Functions inherited from BT::TreeNode
NodeConfig &	config ()

virtual BT::NodeStatus	tick ()=0
	Method to be implemented by the user.

void	resetStatus ()
	Set the status to IDLE.

void	setRegistrationID (StringView ID)

void	setWakeUpInstance (std::shared_ptr< WakeUpSignal > instance)

void	modifyPortsRemapping (const PortsRemapping &new_remapping)

void	setStatus (NodeStatus new_status)
	setStatus changes the status of the node. it will throw if you try to change the status to IDLE, because your parent node should do that, not the user!

PreScripts &	preConditionsScripts ()

PostScripts &	postConditionsScripts ()

template<typename T >
T	parseString (const std::string &str) const

Protected Attributes inherited from BT::ControlNode
std::vector< TreeNode * >	children_nodes_

Detailed Description

The ParallelNode execute all its children concurrently, but not in separate threads!

Even if this may look similar to ReactiveSequence, this Control Node is the only one that can have multiple children RUNNING at the same time.

The Node is completed either when the THRESHOLD_SUCCESS or THRESHOLD_FAILURE number is reached (both configured using ports).

If any of the thresholds is reached, and other children are still running, they will be halted.

Note that threshold indexes work as in Python: https://www.i2tutorials.com/what-are-negative-indexes-and-why-are-they-used/

Therefore -1 is equivalent to the number of children.

Member Function Documentation

◆ halt()

virtual void BT::ParallelNode::halt ( )

overridevirtual

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

Reimplemented from BT::ControlNode.

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

include/behaviortree_cpp/controls/parallel_node.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ halt()