tree_builder.hpp

Go to the documentation of this file.

// 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 <tinyxml2.h>
 
#include "auto_apms_behavior_tree/node/node_manifest.hpp"
#include "auto_apms_behavior_tree/resource/node_class_loader.hpp"
#include "auto_apms_behavior_tree/resource/tree_resource.hpp"
#include "auto_apms_behavior_tree/definitions.hpp"
 
namespace auto_apms_behavior_tree
{
 
class TreeBuilder
{
  static inline const std::string MAIN_TREE_ATTRIBUTE_NAME = "main_tree_to_execute";
  static inline const std::string TREE_ELEMENT_NAME = "BehaviorTree";
  static inline const std::string TREE_ID_ATTRIBUTE_NAME = "ID";
 
public:
  TreeBuilder(std::shared_ptr<BT::BehaviorTreeFactory> factory_ptr = std::make_shared<BT::BehaviorTreeFactory>());
 
  TreeBuilder& registerNodePlugins(rclcpp::Node::SharedPtr node_ptr, const NodeManifest& node_manifest,
                                   NodePluginClassLoader& tree_node_loader, bool override = false);
 
  TreeBuilder& registerNodePlugins(rclcpp::Node::SharedPtr node_ptr, const NodeManifest& node_manifest,
                                   bool override = false);
 
  TreeBuilder& addTreeFromXMLDocument(const tinyxml2::XMLDocument& doc);
 
  TreeBuilder& addTreeFromString(const std::string& tree_str);
 
  TreeBuilder& addTreeFromFile(const std::string& tree_file_path);
 
  TreeBuilder& addTreeFromResource(const TreeResource& resource, rclcpp::Node::SharedPtr node_ptr);
 
  std::string getMainTreeName() const;
 
  TreeBuilder& setMainTreeName(const std::string& main_tree_name);
 
  std::string writeTreeXMLToString() const;
 
  std::unordered_map<std::string, BT::NodeType> getRegisteredNodes();
 
  Tree buildTree(const std::string main_tree_name, TreeBlackboardSharedPtr root_bb_ptr = TreeBlackboard::create());
 
  Tree buildTree(TreeBlackboardSharedPtr root_bb_ptr = TreeBlackboard::create());
 
  /* Static helper functions */
 
  static std::set<std::string> getTreeNames(const tinyxml2::XMLDocument& doc);
 
  static std::string writeXMLDocumentToString(const tinyxml2::XMLDocument& doc);
 
private:
  tinyxml2::XMLDocument doc_;
  std::shared_ptr<BT::BehaviorTreeFactory> factory_ptr_;
};
 
}  // namespace auto_apms_behavior_tree