TreeExecutorServer Class Reference

#include <auto_apms_behavior_tree/executor/executor_server.hpp>

Inheritance diagram for TreeExecutorServer:

Public Types
using	StartActionContext = auto_apms_core::ActionContext<auto_apms_interfaces::action::StartTreeExecutor>
using	CommandActionContext = auto_apms_core::ActionContext<auto_apms_interfaces::action::CommandTreeExecutor>
Public Types inherited from TreeExecutor
enum class	ExecutionState : uint8_t {   IDLE , STARTING , RUNNING , PAUSED ,   HALTED }
enum class	ControlCommand : uint8_t { RUN , PAUSE , HALT , TERMINATE }
enum class	TreeExitBehavior : uint8_t { TERMINATE , RESTART }
enum class	ExecutionResult : uint8_t { TREE_SUCCEEDED , TREE_FAILED , TERMINATED_PREMATURELY , ERROR }
using	CreateTreeCallback = std::function<Tree(TreeBlackboardSharedPtr)>
using	ExecutorParams = executor_params::Params

Public Member Functions
	TreeExecutorServer (const std::string &name, const rclcpp::NodeOptions &options)
	TreeExecutorServer (const rclcpp::NodeOptions &options)
CreateTreeCallback	makeCreateTreeCallback (const std::string &tree_builder_name, const std::string &tree_build_request, const NodeManifest &node_overrides={})
Public Member Functions inherited from TreeExecutor
	TreeExecutor (rclcpp::Node::SharedPtr node_ptr)
std::shared_future< ExecutionResult >	startExecution (CreateTreeCallback create_tree_cb)
bool	isBusy ()
ExecutionState	getExecutionState ()
std::string	getTreeName ()
void	setControlCommand (ControlCommand cmd)
void	setExecutorParameters (const ExecutorParams &p)
rclcpp::Node::SharedPtr	getNodePtr ()
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface ()
TreeBlackboardSharedPtr	getGlobalBlackboardPtr ()
ExecutorParams	getExecutorParameters ()
BTStateObserver &	getStateObserver ()

Static Public Attributes
static const std::string	PARAM_NAME_TREE_BUILDER = _AUTO_APMS_BEHAVIOR_TREE__EXECUTOR_PARAM_TREE_BUILDER
static const std::string	PARAM_NAME_TICK_RATE = _AUTO_APMS_BEHAVIOR_TREE__EXECUTOR_PARAM_TICK_RATE
static const std::string	PARAM_NAME_GROOT2_PORT = _AUTO_APMS_BEHAVIOR_TREE__EXECUTOR_PARAM_GROOT2_PORT
static const std::string	PARAM_NAME_STATE_CHANGE_LOGGER = _AUTO_APMS_BEHAVIOR_TREE__EXECUTOR_PARAM_STATE_CHANGE_LOGGER
static const std::string	DEFAULT_NODE_NAME = "tree_executor"

Detailed Description

Definition at line 27 of file executor_server.hpp.

Member Typedef Documentation

StartActionContext

using StartActionContext = auto_apms_core::ActionContext<auto_apms_interfaces::action::StartTreeExecutor>

Definition at line 30 of file executor_server.hpp.

CommandActionContext

using CommandActionContext = auto_apms_core::ActionContext<auto_apms_interfaces::action::CommandTreeExecutor>

Definition at line 31 of file executor_server.hpp.

Constructor & Destructor Documentation

TreeExecutorServer() [1/2]

TreeExecutorServer	(	const std::string &	name,
		const rclcpp::NodeOptions &	options )

Constructor for TreeExecutorServer with custom name.

Parameters

[in]	name	Name of the rclcpp::Node instance.
[in]	options	Options forwarded to rclcpp::Node constructor.

Definition at line 33 of file executor_server.cpp.

TreeExecutorServer() [2/2]

TreeExecutorServer

(

const rclcpp::NodeOptions &

options

)

Constructor for TreeExecutorServer with default name TreeExecutorServer::DEFAULT_NODE_NAME.

Parameters

[in]

options

Options forwarded to rclcpp::Node constructor.

Definition at line 73 of file executor_server.cpp.

Member Function Documentation

makeCreateTreeCallback()

TreeExecutorServer::CreateTreeCallback makeCreateTreeCallback	(	const std::string &	tree_builder_name,
		const std::string &	tree_build_request,
		const NodeManifest &	node_overrides = {} )

Definition at line 78 of file executor_server.cpp.

Member Data Documentation

PARAM_NAME_TREE_BUILDER

const std::string PARAM_NAME_TREE_BUILDER = _AUTO_APMS_BEHAVIOR_TREE__EXECUTOR_PARAM_TREE_BUILDER

static

Definition at line 33 of file executor_server.hpp.

PARAM_NAME_TICK_RATE

const std::string PARAM_NAME_TICK_RATE = _AUTO_APMS_BEHAVIOR_TREE__EXECUTOR_PARAM_TICK_RATE

static

Definition at line 34 of file executor_server.hpp.

PARAM_NAME_GROOT2_PORT

const std::string PARAM_NAME_GROOT2_PORT = _AUTO_APMS_BEHAVIOR_TREE__EXECUTOR_PARAM_GROOT2_PORT

static

Definition at line 35 of file executor_server.hpp.

PARAM_NAME_STATE_CHANGE_LOGGER

const std::string PARAM_NAME_STATE_CHANGE_LOGGER = _AUTO_APMS_BEHAVIOR_TREE__EXECUTOR_PARAM_STATE_CHANGE_LOGGER

static

Definition at line 36 of file executor_server.hpp.

DEFAULT_NODE_NAME

const std::string DEFAULT_NODE_NAME = "tree_executor"

inlinestatic

Definition at line 37 of file executor_server.hpp.

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

• auto_apms_behavior_tree/include/auto_apms_behavior_tree/executor/executor_server.hpp
• auto_apms_behavior_tree/src/executor/executor_server.cpp