The SimpleActionNode provides an easy to use SyncActionNode. The user should simply provide a callback with this signature. More...

#include <action_node.h>

Inheritance diagram for BT::SimpleActionNode:

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Collaboration diagram for BT::SimpleActionNode:

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Public Types
using	TickFunctor = std::function< NodeStatus(TreeNode &)>

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)>

Public Member Functions
	SimpleActionNode (const std::string &name, TickFunctor tick_functor, const NodeConfig &config)

	SimpleActionNode (const SimpleActionNode &)=delete

SimpleActionNode &	operator= (const SimpleActionNode &)=delete

	SimpleActionNode (SimpleActionNode &&)=delete

SimpleActionNode &	operator= (SimpleActionNode &&)=delete

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

	SyncActionNode (const SyncActionNode &)=delete

SyncActionNode &	operator= (const SyncActionNode &)=delete

	SyncActionNode (SyncActionNode &&)=delete

SyncActionNode &	operator= (SyncActionNode &&)=delete

virtual NodeStatus	executeTick () override
	throws if the derived class return RUNNING.

virtual void	halt () override final
	You don't need to override this.

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

Protected Member Functions
virtual NodeStatus	tick () override final
	Method to be implemented by the user.

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
TickFunctor	tick_functor_

Additional Inherited Members
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 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 SimpleActionNode provides an easy to use SyncActionNode. The user should simply provide a callback with this signature.

BT::NodeStatus functionName(TreeNode&)

This avoids the hassle of inheriting from a ActionNode.

Using lambdas or std::bind it is easy to pass a pointer to a method. SimpleActionNode is executed synchronously and does not support halting.

Member Function Documentation

◆ tick()

virtual NodeStatus BT::SimpleActionNode::tick ( )

finaloverrideprotectedvirtual

Method to be implemented by the user.

Implements BT::TreeNode.

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

include/behaviortree_cpp/action_node.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ tick()