launch_executor.cpp

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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.
 
#include "auto_apms_behavior_tree/node.hpp"
#include "auto_apms_interfaces/action/start_tree_executor.hpp"
 
namespace auto_apms_behavior_tree
{
 
class LaunchExecutorAction : public RosActionNode<auto_apms_interfaces::action::StartTreeExecutor>
{
  double last_running_node_timestamp_ = 0;
 
public:
  using RosActionNode::RosActionNode;
 
  static BT::PortsList providedPorts()
  {
    return providedBasicPorts({});
  }
 
  BT::NodeStatus onResultReceived(const WrappedResult& wr)
  {
    switch (wr.result->tree_result)
    {
      case ActionType::Result::TREE_RESULT_SUCCESS:
        return BT::NodeStatus::SUCCESS;
      default:
        return BT::NodeStatus::FAILURE;
    }
  }
 
  BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> feedback)
  {
    if (feedback->running_action_timestamp > last_running_node_timestamp_)
    {
      last_running_node_timestamp_ = feedback->running_action_timestamp;
      RCLCPP_DEBUG(logger_, "%s - Tree '%s' is ticking node '%s'", getFullName().c_str(),
                   feedback->running_tree_identity.c_str(), feedback->running_action_name.c_str());
    }
    return BT::NodeStatus::RUNNING;
  }
};
 
}  // namespace auto_apms_behavior_tree
 
AUTO_APMS_BEHAVIOR_TREE_REGISTER_NODE(auto_apms_behavior_tree::LaunchExecutorAction)