executor.hpp

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// 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 <functional>
#include <future>
 
#include "behaviortree_cpp/loggers/groot2_publisher.h"
#include "rclcpp/node.hpp"
 
#include "executor_params.hpp"
#include "auto_apms_behavior_tree/executor/state_observer.hpp"
#include "auto_apms_behavior_tree/definitions.hpp"
 
namespace auto_apms_behavior_tree
{
 
class TreeExecutor
{
public:
  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
  };
 
private:
  using TerminationCallback = std::function<void(ExecutionResult, const std::string&)>;
 
public:
  using CreateTreeCallback = std::function<Tree(TreeBlackboardSharedPtr)>;
  using ExecutorParams = executor_params::Params;
 
  TreeExecutor(rclcpp::Node::SharedPtr node_ptr);
 
  std::shared_future<ExecutionResult> startExecution(CreateTreeCallback create_tree_cb);
 
  bool isBusy();
 
  ExecutionState getExecutionState();
 
  std::string getTreeName();
 
private:
  void execution_routine_(TerminationCallback termination_callback);
 
  /* Virtual member functions */
 
  virtual bool onInitialTick();
 
  virtual bool onTick();
 
  virtual TreeExitBehavior onTreeExit(bool success);
 
  virtual void onTermination(const ExecutionResult& result);
 
public:
  /* Setter functions */
 
  void setControlCommand(ControlCommand cmd);
 
  void setExecutorParameters(const ExecutorParams& p);
 
  /* Getter functions */
 
  rclcpp::Node::SharedPtr getNodePtr();
 
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface();
 
  TreeBlackboardSharedPtr getGlobalBlackboardPtr();
 
  ExecutorParams getExecutorParameters();
 
  BTStateObserver& getStateObserver();
 
private:
  rclcpp::Node::SharedPtr node_ptr_;
  ExecutorParams executor_params_;
  TreeBlackboardSharedPtr global_blackboard_ptr_;
  std::unique_ptr<Tree> tree_ptr_;
  std::unique_ptr<BT::Groot2Publisher> groot2_publisher_ptr_;
  std::unique_ptr<BTStateObserver> state_observer_ptr_;
  rclcpp::TimerBase::SharedPtr execution_timer_ptr_;
  ExecutionState prev_execution_state_;
  ControlCommand control_command_;
  bool execution_stopped_;
  std::string termination_reason_;
};
 
std::string toStr(TreeExecutor::ExecutionState state);
 
std::string toStr(TreeExecutor::ControlCommand cmd);
 
std::string toStr(TreeExecutor::TreeExitBehavior behavior);
 
std::string toStr(TreeExecutor::ExecutionResult result);
 
}  // namespace auto_apms_behavior_tree