definitions.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
//
//      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 <map>
#include <string>
#include <vector>
 
#include "behaviortree_cpp/basic_types.h"
#include "behaviortree_cpp/bt_factory.h"


namespace auto_apms_behavior_tree
{
 
using Tree = BT::Tree;
using TreeBlackboard = BT::Blackboard;
using TreeBlackboardSharedPtr = std::shared_ptr<TreeBlackboard>;
using TreeConstructor = std::function<Tree(TreeBlackboardSharedPtr)>;

struct NodePortInfo
{
  std::string port_name;
  std::string port_type;
  std::string port_default;
  bool port_has_default;
  std::string port_description;
  BT::PortDirection port_direction;
};

struct NodeModel
{
  BT::NodeType type;
  std::vector<NodePortInfo> port_infos;
};

using NodeModelMap = std::map<std::string, NodeModel>;
 
}  // namespace auto_apms_behavior_tree