State observer for a particular behavior tree object that writes introspection and debugging information related to behavior tree node transitions to a ROS 2 logger. More...

#include <auto_apms_behavior_tree/executor/state_observer.hpp>

Public Member Functions
	TreeStateObserver (const BT::Tree &tree, const rclcpp::Logger &node_logger, std::chrono::seconds max_logging_interval=std::chrono::seconds(0))
	Constructor.

virtual void	flush () override
	Reset the internal state variables.

void	setLogging (bool active)
	Configure whether the observer should write to the logger.

const std::vector< std::string > &	getRunningActionHistory () const
	Get all names of action nodes that returned `BT::NodeStatus::RUNNING` since the last time `TreeStateObserver::flush` was called.

const std::string &	getLastRunningActionName () const
	Get the name of the last action node that returned `BT::NodeStatus::RUNNING`.

Private Member Functions
virtual void	callback (BT::Duration timestamp, const BT::TreeNode &node, BT::NodeStatus prev_status, BT::NodeStatus status) override

Detailed Description

State observer for a particular behavior tree object that writes introspection and debugging information related to behavior tree node transitions to a ROS 2 logger.

This is integrated with TreeExecutorNode.

Definition at line 31 of file state_observer.hpp.

Constructor & Destructor Documentation

◆ TreeStateObserver()

TreeStateObserver	(	const BT::Tree &	tree,
		const rclcpp::Logger &	node_logger,
		std::chrono::seconds	max_logging_interval = std::chrono::seconds(0) )

Constructor.

Parameters

tree	Behavior tree object to attach to.
node_logger	ROS 2 logger that this observer writes state transitions of behavior tree nodes to.
max_logging_interval	Maximum logging interval. `0` means to log every state transition regardless the interval between them.

Definition at line 22 of file state_observer.cpp.

Member Function Documentation

◆ flush()

void flush ( )

overridevirtual

Reset the internal state variables.

Definition at line 31 of file state_observer.cpp.

◆ setLogging()

void setLogging ( bool active )

Configure whether the observer should write to the logger.

Parameters

active true to allow to write to the logger, false to disable it.

Definition at line 33 of file state_observer.cpp.

◆ getRunningActionHistory()

const std::vector< std::string > & getRunningActionHistory ( ) const

Get all names of action nodes that returned BT::NodeStatus::RUNNING since the last time TreeStateObserver::flush was called.

Returns: Names of action nodes that were running recently.

Definition at line 35 of file state_observer.cpp.

◆ getLastRunningActionName()

const std::string & getLastRunningActionName ( ) const

Get the name of the last action node that returned BT::NodeStatus::RUNNING.

Returns: Name of the action node that was running most recently.

Definition at line 37 of file state_observer.cpp.

◆ callback()

void callback	(	BT::Duration	timestamp,
		const BT::TreeNode &	node,
		BT::NodeStatus	prev_status,
		BT::NodeStatus	status )

overrideprivatevirtual

Write to ROS2 logger but respect a maximum interval if a specific node triggers the same state transitions (e.g. conditions in reactive control statements or loops).

Definition at line 44 of file state_observer.cpp.

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

auto_apms_behavior_tree/include/auto_apms_behavior_tree/executor/state_observer.hpp
auto_apms_behavior_tree/src/executor/state_observer.cpp

Public Member Functions

Private Member Functions