The TestNode is a Node that can be configure to: More...

#include <test_node.h>

Inheritance diagram for BT::TestNode:

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Collaboration diagram for BT::TestNode:

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Public Member Functions
	TestNode (const std::string &name, const NodeConfig &config, TestNodeConfig test_config)

	TestNode (const std::string &name, const NodeConfig &config, std::shared_ptr< TestNodeConfig > test_config)

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

virtual NodeStatus	onStart ()=0

virtual NodeStatus	onRunning ()=0
	method invoked when the action is already in the RUNNING state.

virtual void	onHalted ()=0

bool	isHaltRequested () const

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

	ActionNodeBase (const ActionNodeBase &)=delete

ActionNodeBase &	operator= (const ActionNodeBase &)=delete

	ActionNodeBase (ActionNodeBase &&)=delete

ActionNodeBase &	operator= (ActionNodeBase &&)=delete

virtual NodeType	type () const override final

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

	LeafNode (const LeafNode &)=delete

LeafNode &	operator= (const LeafNode &)=delete

	LeafNode (LeafNode &&)=delete

LeafNode &	operator= (LeafNode &&)=delete

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)

Protected Member Functions
virtual NodeStatus	onStart () override

virtual NodeStatus	onRunning () override
	method invoked when the action is already in the RUNNING state.

virtual void	onHalted () override

NodeStatus	onCompleted ()

Protected Member Functions inherited from BT::StatefulActionNode
NodeStatus	tick () override final
	Method to be implemented by the user.

void	halt () override final

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
std::shared_ptr< TestNodeConfig >	_config

ScriptFunction	_success_executor

ScriptFunction	_failure_executor

ScriptFunction	_post_executor

TimerQueue	_timer

std::atomic_bool	_completed = false

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_)>

Detailed Description

The TestNode is a Node that can be configure to:

Return a specific status (SUCCESS / FAILURE)
Execute a post condition script (unless halted)
Either complete immediately (synchronous action), or after a given period of time (asynchronous action)

This behavior is changed by the parameters passed with TestNodeConfig.

This particular node is created by the factory when TestNodeConfig is added as a substitution rule:

auto test_config = std::make_shared<TestNodeConfig>(); // change fields of test_config factory.addSubstitutionRule(pattern, test_config);

See tutorial 15 for more details.

Member Function Documentation

◆ onHalted()

virtual void BT::TestNode::onHalted ( )

overrideprotectedvirtual

when the method halt() is called and the action is RUNNING, this method is invoked. This is a convenient place todo a cleanup, if needed.

Implements BT::StatefulActionNode.

◆ onRunning()

virtual NodeStatus BT::TestNode::onRunning ( )

overrideprotectedvirtual

method invoked when the action is already in the RUNNING state.

Implements BT::StatefulActionNode.

◆ onStart()

virtual NodeStatus BT::TestNode::onStart ( )

overrideprotectedvirtual

Method called once, when transitioning from the state IDLE. If it returns RUNNING, this becomes an asynchronous node.

Implements BT::StatefulActionNode.

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

include/behaviortree_cpp/actions/test_node.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ onHalted()

◆ onRunning()

◆ onStart()