builder.hpp

// Copyright 2024 Robin Müller
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//      https://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#pragma once
 
#include <memory>
 
#include "auto_apms_behavior_tree_core/definitions.hpp"
#include "auto_apms_behavior_tree_core/node/node_manifest.hpp"
#include "auto_apms_behavior_tree_core/node/node_registration_loader.hpp"
#include "auto_apms_behavior_tree_core/tree/tree_document.hpp"
#include "auto_apms_behavior_tree_core/tree/tree_resource.hpp"
#include "rclcpp/rclcpp.hpp"

namespace auto_apms_behavior_tree::core
{

class TreeBuilder : public TreeDocument
{
  inline static const std::string LOGGER_NAME = "tree_builder";
 
public:
  RCLCPP_SMART_PTR_DEFINITIONS(TreeBuilder)
 
  
  explicit TreeBuilder(
    rclcpp::Node::SharedPtr ros_node, rclcpp::CallbackGroup::SharedPtr tree_node_waitables_callback_group,
    rclcpp::executors::SingleThreadedExecutor::SharedPtr tree_node_waitables_executor,
    NodeRegistrationLoader::SharedPtr tree_node_loader = NodeRegistrationLoader::make_shared());

  explicit TreeBuilder(NodeRegistrationLoader::SharedPtr tree_node_loader = NodeRegistrationLoader::make_shared());
 
  virtual ~TreeBuilder() override = default;

  TreeBuilder & registerNodes(const NodeManifest & tree_node_manifest, bool override = false) override;

  TreeBuilder & setScriptingEnum(const std::string & enum_name, int val);

  template <typename EnumT>
  TreeBuilder & setScriptingEnumsFromType();

  Tree instantiate(const std::string & root_tree_name, TreeBlackboardSharedPtr bb_ptr = TreeBlackboard::create());

  Tree instantiate(TreeBlackboardSharedPtr bb_ptr = TreeBlackboard::create());
};
 
// #####################################################################################################################
// ################################              DEFINITIONS              ##############################################
// #####################################################################################################################
 
template <typename EnumT>
TreeBuilder & TreeBuilder::setScriptingEnumsFromType()
{
  factory_.registerScriptingEnums<EnumT>();
  return *this;
}
 
}  // namespace auto_apms_behavior_tree::core