node_registration_interface.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_core/node/ros_node_context.hpp"
#include "behaviortree_cpp/bt_factory.h"
 
namespace auto_apms_behavior_tree::core
{

class NodeRegistrationInterface
{
public:
  NodeRegistrationInterface() = default;
  virtual ~NodeRegistrationInterface() = default;

  virtual bool requiresRosNodeContext() const = 0;

  virtual void registerWithBehaviorTreeFactory(
    BT::BehaviorTreeFactory & factory, const std::string & registration_name,
    const RosNodeContext * const context_ptr = nullptr) const = 0;
};
 
}  // namespace auto_apms_behavior_tree::core