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action_node.h
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/* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
* Copyright (C) 2018-2025 Davide Faconti, Eurecat - All Rights Reserved
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef BEHAVIORTREECORE_ACTIONNODE_H
#define BEHAVIORTREECORE_ACTIONNODE_H
#include "leaf_node.h"
#include <atomic>
#include <future>
#include <mutex>
namespace BT
{
// IMPORTANT: Actions which returned SUCCESS or FAILURE will not be ticked
// again unless resetStatus() is called first.
// Keep this in mind when writing your custom Contr
FBC8
ol and Decorator nodes.
/**
* @brief The ActionNodeBase is the base class to use to create any kind of action.
* A particular derived class is free to override executeTick() as needed.
*
*/
class ActionNodeBase : public LeafNode
{
public:
ActionNodeBase(const std::string& name, const NodeConfig& config);
~ActionNodeBase() override = default;
ActionNodeBase(const ActionNodeBase&) = delete;
ActionNodeBase& operator=(const ActionNodeBase&) = delete;
ActionNodeBase(ActionNodeBase&&) = delete;
ActionNodeBase& operator=(ActionNodeBase&&) = delete;
virtual NodeType type() const override final
{
return NodeType::ACTION;
}
};
/**
* @brief The SyncActionNode is an ActionNode that
* explicitly prevents the status RUNNING and doesn't require
* an implementation of halt().
*/
class SyncActionNode : public ActionNodeBase
{
public:
SyncActionNode(const std::string& name, const NodeConfig& config);
~SyncActionNode() override = default;
SyncActionNode(const SyncActionNode&) = delete;
SyncActionNode& operator=(const SyncActionNode&) = delete;
SyncActionNode(SyncActionNode&&) = delete;
SyncActionNode& operator=(SyncActionNode&&) = delete;
/// throws if the derived class return RUNNING.
virtual NodeStatus executeTick() override;
/// You don't need to override this
virtual void halt() override final
{
resetStatus();
}
};
/**
* @brief The SimpleActionNode provides an easy to use SyncActionNode.
* The user should simply provide a callback with this signature
*
* BT::NodeStatus functionName(TreeNode&)
*
* This avoids the hassle of inheriting from a ActionNode.
*
* Using lambdas or std::bind it is easy to pass a pointer to a method.
* SimpleActionNode is executed synchronously and does not support halting.
*/
class SimpleActionNode : public SyncActionNode
{
public:
using TickFunctor = std::function<NodeStatus(TreeNode&)>;
// You must provide the function to call when tick() is invoked
SimpleActionNode(const std::string& name, TickFunctor tick_functor,
const NodeConfig& config);
~SimpleActionNode() override = default;
SimpleActionNode(const SimpleActionNode&) = delete;
SimpleActionNode& operator=(const SimpleActionNode&) = delete;
SimpleActionNode(SimpleActionNode&&) = delete;
SimpleActionNode& operator=(SimpleActionNode&&) = delete;
protected:
virtual NodeStatus tick() override final;
TickFunctor tick_functor_;
};
/**
* @brief The ThreadedAction executes the tick in a different thread.
*
* IMPORTANT: this action is quite hard to implement correctly.
* Please make sure that you know what you are doing.
*
* - In your overridden tick() method, you must check periodically
* the result of the method isHaltRequested() and stop your execution accordingly.
*
* - in the overridden halt() method, you can do some cleanup, but do not forget to
* invoke the base class method ThreadedAction::halt();
*
* - remember, with few exceptions, a halted ThreadedAction must return NodeStatus::IDLE.
*
* For a complete example, look at __AsyncActionTest__ in action_test_node.h in the folder test.
*
* NOTE: when the thread is completed, i.e. the tick() returns its status,
* a TreeNode::emitWakeUpSignal() will be called.
*/
class ThreadedAction : public ActionNodeBase
{
public:
ThreadedAction(const std::string& name, const NodeConfig& config)
: ActionNodeBase(name, config)
{}
bool isHaltRequested() const
{
return halt_requested_.load();
}
// This method spawn a new thread. Do NOT remove the "final" keyword.
virtual NodeStatus executeTick() override final;
virtual void halt() override;
private:
std::exception_ptr exptr_;
std::atomic_bool halt_requested_ = false;
std::future<void> thread_handle_;
std::mutex mutex_;
};
#ifdef USE_BTCPP3_OLD_NAMES
using AsyncActionNode = ThreadedAction;
#endif
/**
* @brief The StatefulActionNode is the preferred way to implement asynchronous Actions.
* It is actually easier to use correctly, when compared with ThreadedAction
*
* It is particularly useful when your code contains a request-reply pattern,
* i.e. when the actions sends an asynchronous request, then checks periodically
* if the reply has been received and, eventually, analyze the reply to determine
* if the result is SUCCESS or FAILURE.
*
* -) an action that was in IDLE state will call onStart()
*
* -) A RUNNING action will call onRunning()
*
* -) if halted, method onHalted() is invoked
*/
class StatefulActionNode : public ActionNodeBase
{
public:
StatefulActionNode(const std::string& name, const NodeConfig& config)
: ActionNodeBase(name, config)
{}
/// Method called once, when transitioning from the state IDLE.
/// If it returns RUNNING, this becomes an asynchronous node.
virtual NodeStatus onStart() = 0;
/// method invoked when the action is already in the RUNNING state.
virtual NodeStatus onRunning() = 0;
/// when the method halt() is called and the action is RUNNING, this method is invoked.
/// This is a convenient place todo a cleanup, if needed.
virtual void onHalted() = 0;
bool isHaltRequested() const;
protected:
// do not override this method
NodeStatus tick() override final;
// do not override this method
void halt() override final;
private:
std::atomic_bool halt_requested_ = false;
};
/**
* @brief The CoroActionNode class is an a good candidate for asynchronous actions
* which need to communicate with an external service using an async request/reply interface.
*
* It is up to the user to decide when to suspend execution of the Action and resume
* the parent node, invoking the method setStatusRunningAndYield().
*/
class CoroActionNode : public ActionNodeBase
{
public:
CoroActionNode(const std::string& name, const NodeConfig& config);
~CoroActionNode() override;
CoroActionNode(const CoroActionNode&) = delete;
CoroActionNode& operator=(const CoroActionNode&) = delete;
CoroActionNode(CoroActionNode&&) = delete;
CoroActionNode& operator=(CoroActionNode&&) = delete;
/// Use this method to return RUNNING and temporary "pause" the Action.
void setStatusRunningAndYield();
// This method triggers the TickEngine. Do NOT remove the "final" keyword.
virtual NodeStatus executeTick() override final;
// Used internally, but it needs to be public
void tickImpl();
/** You may want to override this method. But still, remember to call this
* implementation too.
*
* Example:
*
* void MyAction::halt()
* {
* // do your stuff here
* CoroActionNode::halt();
* }
*/
void halt() override;
protected:
struct Pimpl; // The Pimpl idiom
std::unique_ptr<Pimpl> _p;
void destroyCoroutine();
};
} // namespace BT
#endif