Commit 42bf0e79 authored by abhagwan's avatar abhagwan
Browse files
parents 4a673d30 ee63550b
......@@ -24,9 +24,6 @@ class CIriAnaNavModuleBT
// tree object to save the behavior tree created and execute its tick()
BT::Tree tree;
// factory object to register actions, conditions, ...
IriBehaviorTreeFactory factory;
// loggers
BT::StdCoutLogger *logger_cout;
BT::MinitraceLogger *logger_minitrace;
......@@ -530,7 +527,7 @@ class CIriAnaNavModuleBT
*/
void restart();
void create_tree(std::string path, std::string tree_xml_file);
void create_tree(IriBehaviorTreeFactory *factory, std::string path, std::string tree_xml_file);
void enable_cout_logger();
......
......@@ -21,39 +21,39 @@ void CIriAnaNavModuleBT::init(IriBehaviorTreeFactory *factory)
BT::PortsList costmap_port = { BT::InputPort<double>("rate_hz") };
// registry of conditions
this->factory.registerSimpleCondition("is_finished", std::bind(&CIriAnaNavModuleBT::is_finished, this));
this->factory.registerSimpleCondition("is_succeded", std::bind(&CIriAnaNavModuleBT::is_succeded, this));
this->factory.registerSimpleCondition("is_running", std::bind(&CIriAnaNavModuleBT::is_running, this));
this->factory.registerSimpleCondition("is_action_start_failed", std::bind(&CIriAnaNavModuleBT::is_action_start_failed, this));
this->factory.registerSimpleCondition("is_timeout", std::bind(&CIriAnaNavModuleBT::is_timeout, this));
this->factory.registerSimpleCondition("is_watchdog", std::bind(&CIriAnaNavModuleBT::is_watchdog, this));
this->factory.registerSimpleCondition("is_aborted", std::bind(&CIriAnaNavModuleBT::is_aborted, this));
this->factory.registerSimpleCondition("is_preempted", std::bind(&CIriAnaNavModuleBT::is_preempted, this));
this->factory.registerSimpleCondition("is_rejected", std::bind(&CIriAnaNavModuleBT::is_rejected, this));
this->factory.registerSimpleCondition("is_set_param_failed", std::bind(&CIriAnaNavModuleBT::is_set_param_failed, this));
this->factory.registerSimpleCondition("is_param_not_present", std::bind(&CIriAnaNavModuleBT::is_param_not_present, this));
this->factory.registerSimpleCondition("is_no_odom", std::bind(&CIriAnaNavModuleBT::is_no_odom, this));
this->factory.registerSimpleCondition("is_no_transform", std::bind(&CIriAnaNavModuleBT::is_no_transform, this));
this->factory.registerSimpleCondition("costmap_is_auto_clear_enabled", std::bind(&CIriAnaNavModuleBT::costmap_is_auto_clear_enabled, this));
factory->registerSimpleCondition("is_finished", std::bind(&CIriAnaNavModuleBT::is_finished, this));
factory->registerSimpleCondition("is_succeded", std::bind(&CIriAnaNavModuleBT::is_succeded, this));
factory->registerSimpleCondition("is_running", std::bind(&CIriAnaNavModuleBT::is_running, this));
factory->registerSimpleCondition("is_action_start_failed", std::bind(&CIriAnaNavModuleBT::is_action_start_failed, this));
factory->registerSimpleCondition("is_timeout", std::bind(&CIriAnaNavModuleBT::is_timeout, this));
factory->registerSimpleCondition("is_watchdog", std::bind(&CIriAnaNavModuleBT::is_watchdog, this));
factory->registerSimpleCondition("is_aborted", std::bind(&CIriAnaNavModuleBT::is_aborted, this));
factory->registerSimpleCondition("is_preempted", std::bind(&CIriAnaNavModuleBT::is_preempted, this));
factory->registerSimpleCondition("is_rejected", std::bind(&CIriAnaNavModuleBT::is_rejected, this));
factory->registerSimpleCondition("is_set_param_failed", std::bind(&CIriAnaNavModuleBT::is_set_param_failed, this));
factory->registerSimpleCondition("is_param_not_present", std::bind(&CIriAnaNavModuleBT::is_param_not_present, this));
factory->registerSimpleCondition("is_no_odom", std::bind(&CIriAnaNavModuleBT::is_no_odom, this));
factory->registerSimpleCondition("is_no_transform", std::bind(&CIriAnaNavModuleBT::is_no_transform, this));
factory->registerSimpleCondition("costmap_is_auto_clear_enabled", std::bind(&CIriAnaNavModuleBT::costmap_is_auto_clear_enabled, this));
// registry of synchronous actions
this->factory.registerSimpleAction("sync_go_to_orientation", std::bind(&CIriAnaNavModuleBT::sync_go_to_orientation, this, std::placeholders::_1), orientation_port);
this->factory.registerSimpleAction("sync_go_to_position", std::bind(&CIriAnaNavModuleBT::sync_go_to_position, this, std::placeholders::_1), position_port);
this->factory.registerSimpleAction("sync_go_to_pose", std::bind(&CIriAnaNavModuleBT::sync_go_to_pose, this, std::placeholders::_1), pose_port);
this->factory.registerSimpleAction("sync_stop", std::bind(&CIriAnaNavModuleBT::sync_stop, this));
this->factory.registerSimpleAction("set_goal_frame", std::bind(&CIriAnaNavModuleBT::set_goal_frame, this, std::placeholders::_1), frame_port);
this->factory.registerSimpleAction("get_current_pose", std::bind(&CIriAnaNavModuleBT::get_current_pose, this, std::placeholders::_1), current_pose_port);
this->factory.registerSimpleAction("costmaps_clear", std::bind(&CIriAnaNavModuleBT::costmaps_clear, this));
this->factory.registerSimpleAction("costmaps_enable_auto_clear", std::bind(&CIriAnaNavModuleBT::costmaps_enable_auto_clear, this, std::placeholders::_1), costmap_port);
this->factory.registerSimpleAction("costmaps_disable_auto_clear", std::bind(&CIriAnaNavModuleBT::costmaps_disable_auto_clear, this));
factory->registerSimpleAction("sync_go_to_orientation", std::bind(&CIriAnaNavModuleBT::sync_go_to_orientation, this, std::placeholders::_1), orientation_port);
factory->registerSimpleAction("sync_go_to_position", std::bind(&CIriAnaNavModuleBT::sync_go_to_position, this, std::placeholders::_1), position_port);
factory->registerSimpleAction("sync_go_to_pose", std::bind(&CIriAnaNavModuleBT::sync_go_to_pose, this, std::placeholders::_1), pose_port);
factory->registerSimpleAction("sync_stop", std::bind(&CIriAnaNavModuleBT::sync_stop, this));
factory->registerSimpleAction("set_goal_frame", std::bind(&CIriAnaNavModuleBT::set_goal_frame, this, std::placeholders::_1), frame_port);
factory->registerSimpleAction("get_current_pose", std::bind(&CIriAnaNavModuleBT::get_current_pose, this, std::placeholders::_1), current_pose_port);
factory->registerSimpleAction("costmaps_clear", std::bind(&CIriAnaNavModuleBT::costmaps_clear, this));
factory->registerSimpleAction("costmaps_enable_auto_clear", std::bind(&CIriAnaNavModuleBT::costmaps_enable_auto_clear, this, std::placeholders::_1), costmap_port);
factory->registerSimpleAction("costmaps_disable_auto_clear", std::bind(&CIriAnaNavModuleBT::costmaps_disable_auto_clear, this));
// registry of asynchronous actions
this->factory.registerIriAsyncAction("async_go_to_orientation", std::bind(&CIriAnaNavModuleBT::async_go_to_orientation, this, std::placeholders::_1), orientation_port);
this->factory.registerIriAsyncAction("async_go_to_position", std::bind(&CIriAnaNavModuleBT::async_go_to_position, this, std::placeholders::_1), position_port);
this->factory.registerIriAsyncAction("async_go_to_pose", std::bind(&CIriAnaNavModuleBT::async_go_to_pose, this, std::placeholders::_1), pose_port);
this->factory.registerIriAsyncAction("NOP", std::bind(&CIriAnaNavModuleBT::NOP, this));
factory->registerIriAsyncAction("async_go_to_orientation", std::bind(&CIriAnaNavModuleBT::async_go_to_orientation, this, std::placeholders::_1), orientation_port);
factory->registerIriAsyncAction("async_go_to_position", std::bind(&CIriAnaNavModuleBT::async_go_to_position, this, std::placeholders::_1), position_port);
factory->registerIriAsyncAction("async_go_to_pose", std::bind(&CIriAnaNavModuleBT::async_go_to_pose, this, std::placeholders::_1), pose_port);
factory->registerIriAsyncAction("NOP", std::bind(&CIriAnaNavModuleBT::NOP, this));
// creation of tree from .xml
std::cout << "create tree" << std::endl;
this->tree = this->factory.createTreeFromFile(this->path + "/" + this->tree_xml_file + ".xml");
this->tree = factory->createTreeFromFile(this->path + "/" + this->tree_xml_file + ".xml");
}
CIriAnaNavModuleBT::~CIriAnaNavModuleBT(void)
......@@ -624,7 +624,7 @@ void CIriAnaNavModuleBT::restart()
}
}
void CIriAnaNavModuleBT::create_tree(std::string path, std::string tree_xml_file)
void CIriAnaNavModuleBT::create_tree(IriBehaviorTreeFactory *factory, std::string path, std::string tree_xml_file)
{
this->path=path;
this->tree_xml_file=tree_xml_file;
......@@ -634,7 +634,7 @@ void CIriAnaNavModuleBT::create_tree(std::string path, std::string tree_xml_file
try
{
this->tree = this->factory.createTreeFromFile(this->path + "/" + this->tree_xml_file + ".xml");
this->tree = factory->createTreeFromFile(this->path + "/" + this->tree_xml_file + ".xml");
this->status = BT::NodeStatus::IDLE;
// if logger exists delete previous one and create a new one
......
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