set_bool.cpp

// Copyright 2025 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.
 
#include "std_srvs/srv/set_bool.hpp"
 
#include "auto_apms_behavior_tree_core/node.hpp"
 
#define INPUT_KEY_DATA "data"
#define OUTPUT_KEY_MESSAGE "message"
 
namespace auto_apms_behavior_tree
{
 
class SetBool : public core::RosServiceNode<std_srvs::srv::SetBool>
{
public:
  SetBool(const std::string & instance_name, const Config & config, const Context & context)
  : RosServiceNode(instance_name, config, context)
  {
  }
 
  static BT::PortsList providedPorts()
  {
    return providedBasicPorts({
      BT::InputPort<bool>(INPUT_KEY_DATA, "Boolean data to set (true, false, 1, 0)."),
      BT::OutputPort<std::string>(OUTPUT_KEY_MESSAGE, "Service response: informational message."),
    });
  }
 
  bool setRequest(Request::SharedPtr & request) override final
  {
    const BT::Expected<bool> expected_data = getInput<bool>(INPUT_KEY_DATA);
    if (!expected_data) {
      RCLCPP_ERROR(
        logger_, "%s - %s", context_.getFullyQualifiedTreeNodeName(this).c_str(), expected_data.error().c_str());
      return false;
    }
    request->data = expected_data.value();
    return true;
  }
 
  BT::NodeStatus onResponseReceived(const Response::SharedPtr & response) override final
  {
    setOutput(OUTPUT_KEY_MESSAGE, response->message);
    return response->success ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE;
  }
};
 
}  // namespace auto_apms_behavior_tree
 
AUTO_APMS_BEHAVIOR_TREE_REGISTER_NODE(auto_apms_behavior_tree::SetBool)