load_bt.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_behavior_tree/resource/tree_resource.hpp"
#include "auto_apms_core/exceptions.hpp"
 
#define INPUT_KEY_PACKAGE "package_name"
#define INPUT_KEY_FILENAME "filename"
#define OUTPUT_KEY_DATA "xml_data"
 
namespace auto_apms_behavior_tree
{
 
class LoadBehaviorTreeAction : public BT::SyncActionNode
{
public:
  using SyncActionNode::SyncActionNode;
 
  static BT::PortsList providedPorts()
  {
    return { BT::InputPort<std::string>(INPUT_KEY_PACKAGE, "Name of the ROS2 package containing the trees file"),
             BT::InputPort<std::string>(INPUT_KEY_FILENAME, "Name of the trees file (Extension may be omitted)"),
             BT::OutputPort<std::string>(OUTPUT_KEY_DATA, "{xml_data}",
                                         "XML string containing the data for the behavior trees") };
  }
 
  BT::NodeStatus tick() final
  {
    auto package_name = getInput<std::string>(INPUT_KEY_PACKAGE).value();
    auto filename = getInput<std::string>(INPUT_KEY_FILENAME).value();
 
    std::unique_ptr<TreeResource> tree_resource_ptr;
    try
    {
      tree_resource_ptr = std::make_unique<TreeResource>(TreeResource::selectByFileName(filename, package_name));
    }
    catch (const auto_apms_core::exceptions::ResourceNotFoundError& e)
    {
      return BT::NodeStatus::FAILURE;
    }
 
    setOutput<std::string>(OUTPUT_KEY_DATA, tree_resource_ptr->writeTreeToString());
    return BT::NodeStatus::SUCCESS;
  }
};
 
}  // namespace auto_apms_behavior_tree
 
AUTO_APMS_BEHAVIOR_TREE_REGISTER_NODE(auto_apms_behavior_tree::LoadBehaviorTreeAction)