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| /******************************************************************************* | ||
| * Copyright (c) Max Paul Bauer - Robert Bosch GmbH - 2021 | ||
| * | ||
| * This program and the accompanying materials are made | ||
| * available under the terms of the Eclipse Public License 2.0 | ||
| * which is available at https://www.eclipse.org/legal/epl-2.0/ | ||
| * | ||
| * SPDX-License-Identifier: EPL-2.0 | ||
| *******************************************************************************/ | ||
| #ifndef AGNOSTIC_BEHAVIOR_TREE_BEHAVIOR_NODE_H | ||
| #define AGNOSTIC_BEHAVIOR_TREE_BEHAVIOR_NODE_H | ||
| #include "agnostic_behavior_tree/scoped_blackboard.h" | ||
| #include <exception> | ||
| #include <string> | ||
| namespace yase { | ||
| // Execution states of a node | ||
| enum class NodeStatus { kIdle = 0, kRunning, kSuccess, kFailure }; | ||
| // Convert the status into an ouput string | ||
| std::string toStr(NodeStatus status, bool use_ansi_escape_code = false); | ||
| // Simulator specific Extensions can be inherited and composed to behavior nodes | ||
| class Extension { | ||
| public: | ||
| Extension() = default; | ||
| virtual ~Extension() = default; | ||
| using Ptr = std::shared_ptr<Extension>; | ||
| }; | ||
| // Abstract base class for Behavior Tree Nodes. | ||
| class BehaviorNode { | ||
| public: | ||
| virtual ~BehaviorNode() { m_blackboard = nullptr; }; | ||
| using Ptr = std::shared_ptr<BehaviorNode>; | ||
| // Method to invoke tick from the outside while ensuring the consistency of the node status and tick cycle tracking | ||
| NodeStatus executeTick() { | ||
| // Track current tick cycle | ||
| if (m_parent_node != nullptr) { | ||
| if (m_tick_cycle >= m_parent_node->m_tick_cycle) { | ||
| std::string error_msg = "Error while executing tick() of behavior node ["; | ||
| error_msg.append(name()); | ||
| error_msg.append("]: Tick cycle [") | ||
| .append(std::to_string(m_tick_cycle)) | ||
| .append("] of this node is greater/equal then its parent tick cycle ["); | ||
| error_msg.append(std::to_string(m_parent_node->m_tick_cycle)) | ||
| .append("] - A child is not allowed to proceed faster then its parent"); | ||
| throw std::logic_error(error_msg); | ||
| } | ||
| m_tick_cycle = m_parent_node->m_tick_cycle; | ||
| } else { | ||
| (m_tick_cycle)++; | ||
| } | ||
| // Clear execution info before step | ||
| m_execution_info.clear(); | ||
| m_status = tick(); | ||
| if (m_status == NodeStatus::kIdle) { | ||
| std::string error_msg = "Error while executing tick() of behavior node ["; | ||
| error_msg.append(name()); | ||
| error_msg.append("]: Returned invalid status NodeStatus::kIdle!"); | ||
| throw std::logic_error(error_msg); | ||
| } | ||
| return status(); | ||
| }; | ||
| // Called once right before behavior is ticked the first time. | ||
| // THE CALL MUST RESET THE BEHAVIOR with all its necessary values! | ||
| virtual void onInit() = 0; | ||
| // Called after behavior is called the last time | ||
| virtual void onTerminate(){}; | ||
| // Get node status | ||
| NodeStatus status() const { return m_status; }; | ||
| < |