tree_resource_builder.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/builder.hpp"
#include "auto_apms_behavior_tree/resource/tree_resource.hpp"
#include "auto_apms_behavior_tree/exceptions.hpp"
 
namespace auto_apms_behavior_tree
{
 
class TreeResourceBuilder : public TreeBuilderBase
{
public:
  using TreeBuilderBase::TreeBuilderBase;
 
  bool setRequest(const std::string& request) override final
  {
    try
    {
      resource_ptr_ = std::make_unique<TreeResource>(TreeResource::fromString(request));
    }
    catch (const exceptions::ResourceIdentityFormatError& e)
    {
      RCLCPP_ERROR(getLogger(), "%s", e.what());
      return false;
    }
    catch (const auto_apms_core::exceptions::ResourceNotFoundError& e)
    {
      RCLCPP_ERROR(getLogger(), "%s", e.what());
      return false;
    }
    return true;
  }
 
  void configureBuilder(TreeBuilder& builder) override final
  {
    if (!resource_ptr_)
      throw exceptions::TreeBuildError("TreeResourceBuilder - resource_ptr_ is nullptr.");
    builder.addTreeFromResource(*resource_ptr_, getNodePtr());
  }
 
private:
  std::unique_ptr<TreeResource> resource_ptr_;
};
 
}  // namespace auto_apms_behavior_tree
 
AUTO_APMS_BEHAVIOR_TREE_REGISTER_BUILDER(auto_apms_behavior_tree::TreeResourceBuilder)