build_handler.hpp

// 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
//
//    http://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 <map>
 
#include "auto_apms_behavior_tree_core/definitions.hpp"
#include "auto_apms_behavior_tree_core/node/node_registration_loader.hpp"
#include "auto_apms_behavior_tree_core/tree/tree_document.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node.hpp"
 
// Include all built in node models and helpers for convenience
#include "auto_apms_behavior_tree/behavior_tree_nodes.hpp"
#include "auto_apms_behavior_tree/util/node.hpp"
 
// Include exceptions if derived build handlers need to throw a TreeBuildHandlerError
#include "auto_apms_behavior_tree/exceptions.hpp"
 
namespace auto_apms_behavior_tree
{

struct TreeBasedEntryPoint
{
  std::string root_tree_name;
  std::map<std::string, std::string> inital_blackboard;

  TreeBasedEntryPoint() = default;

  TreeBasedEntryPoint(const std::string & encoded_str);
};

class TreeBuildHandler
{
public:
  RCLCPP_SMART_PTR_ALIASES_ONLY(TreeBuildHandler)
 
  /* Convenience aliases for deriving classes */
 
  using NodeLoader = core::NodeRegistrationLoader;
  using NodeManifest = core::NodeManifest;
  using TreeResource = core::TreeResource;
  using TreeDocument = core::TreeDocument;
  using TreeBlackboard = auto_apms_behavior_tree::TreeBlackboard;

  TreeBuildHandler(
    const std::string & name, rclcpp::Node::SharedPtr ros_node_ptr, NodeLoader::SharedPtr tree_node_loader_ptr);

  TreeBuildHandler(rclcpp::Node::SharedPtr ros_node_ptr, NodeLoader::SharedPtr tree_node_loader_ptr);
 
  virtual ~TreeBuildHandler() = default;

  virtual bool setBuildRequest(
    const std::string & build_request, const std::string & entry_point, const NodeManifest & node_manifest);

  virtual TreeDocument::TreeElement buildTree(TreeDocument & doc, TreeBlackboard & bb) = 0;

  rclcpp::Node::SharedPtr getRosNodePtr() const;

  NodeLoader::SharedPtr getNodeLoaderPtr() const;
 
protected:
  const rclcpp::Logger logger_;
 
private:
  rclcpp::Node::WeakPtr ros_node_wptr_;
  NodeLoader::SharedPtr tree_node_loader_ptr;
};
 
}  // namespace auto_apms_behavior_tree