options.hpp

// Copyright 2026 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 <string>
 
#include "rclcpp/rclcpp.hpp"
 
namespace auto_apms_behavior_tree
{

class TreeExecutorNodeOptions
{
public:
  TreeExecutorNodeOptions(const rclcpp::NodeOptions & ros_node_options = rclcpp::NodeOptions());

  TreeExecutorNodeOptions & enableCommandAction(bool enable);

  TreeExecutorNodeOptions & enableClearBlackboardService(bool enable);

  TreeExecutorNodeOptions & enableScriptingEnumParameters(bool from_overrides, bool dynamic);

  TreeExecutorNodeOptions & enableGlobalBlackboardParameters(bool from_overrides, bool dynamic);

  TreeExecutorNodeOptions & enableStrictUnkownParameterRemoval(bool enable);

  TreeExecutorNodeOptions & setDefaultBuildHandler(const std::string & name);

  TreeExecutorNodeOptions & setCommandActionName(const std::string & name);

  TreeExecutorNodeOptions & setClearBlackboardServiceName(const std::string & name);

  rclcpp::NodeOptions getROSNodeOptions() const;
 
private:
  friend class GenericTreeExecutorNode;
 
  rclcpp::NodeOptions ros_node_options_;
  bool enable_command_action_ = true;
  bool enable_clear_blackboard_service_ = true;
  bool scripting_enum_parameters_from_overrides_ = true;
  bool scripting_enum_parameters_dynamic_ = true;
  bool blackboard_parameters_from_overrides_ = true;
  bool blackboard_parameters_dynamic_ = true;
  bool strict_unkown_parameter_removal_ = true;
  std::map<std::string, rclcpp::ParameterValue> custom_default_parameters_;
  std::string command_action_name_;
  std::string clear_blackboard_service_name_;
};
 
}  // namespace auto_apms_behavior_tree