executor_node.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 "auto_apms_behavior_tree/executor/action_based_executor_node.hpp"
#include "auto_apms_interfaces/action/start_tree_executor.hpp"
 
namespace auto_apms_behavior_tree
{

class TreeExecutorNode : public ActionBasedTreeExecutorNode<auto_apms_interfaces::action::StartTreeExecutor>
{
public:
  TreeExecutorNode(rclcpp::Node::SharedPtr node_ptr, const std::string & start_action_name, Options options);

  TreeExecutorNode(const std::string & name, const std::string & start_action_name, Options options);

  TreeExecutorNode(const std::string & name, Options options);

  explicit TreeExecutorNode(rclcpp::NodeOptions ros_options = rclcpp::NodeOptions());
 
  virtual ~TreeExecutorNode() override = default;
 
protected:
  /* ActionBasedTreeExecutorNode overrides */

  TreeConstructor getTreeConstructorFromGoal(std::shared_ptr<const TriggerGoal> goal_ptr) override;

  bool shouldAcceptGoal(const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const TriggerGoal> goal_ptr) override;

  void onAcceptedGoal(std::shared_ptr<TriggerGoalHandle> goal_handle_ptr) override;

  void onExecutionStarted(std::shared_ptr<TriggerGoalHandle> goal_handle_ptr) override;

  void onGoalExecutionTermination(const ExecutionResult & result, TriggerActionContext & context) override;
 
  bool afterTick() override;
};
 
}  // namespace auto_apms_behavior_tree