dock_robot.cpp

// Copyright (c) 2024 Open Navigation LLC
//
// 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 <memory>
#include <string>
 
#include "opennav_docking_bt/dock_robot.hpp"
 
namespace opennav_docking_bt
{
 
DockRobotAction::DockRobotAction(
  const std::string & xml_tag_name,
  const std::string & action_name,
  const BT::NodeConfiguration & conf)
: BtActionNode<Action>(xml_tag_name, action_name, conf)
{
}
 
void DockRobotAction::on_tick()
{
  // Get core inputs about what to perform
  [[maybe_unused]] auto res = getInput("use_dock_id", goal_.use_dock_id);
  if (goal_.use_dock_id) {
    getInput("dock_id", goal_.dock_id);
  } else {
    getInput("dock_pose", goal_.dock_pose);
    getInput("dock_type", goal_.dock_type);
    getInput("max_staging_time", goal_.max_staging_time);
  }
  getInput("navigate_to_staging_pose", goal_.navigate_to_staging_pose);
}
 
BT::NodeStatus DockRobotAction::on_success()
{
  setOutput("success", result_.result->success);
  setOutput("num_retries", result_.result->num_retries);
  setOutput("error_code_id", ActionResult::NONE);
  setOutput("error_msg", "");
  return BT::NodeStatus::SUCCESS;
}
 
BT::NodeStatus DockRobotAction::on_aborted()
{
  setOutput("success", result_.result->success);
  setOutput("num_retries", result_.result->num_retries);
  setOutput("error_code_id", result_.result->error_code);
  setOutput("error_msg", result_.result->error_msg);
  return BT::NodeStatus::FAILURE;
}
 
BT::NodeStatus DockRobotAction::on_cancelled()
{
  setOutput("error_code_id", ActionResult::NONE);
  setOutput("error_msg", "");
  return BT::NodeStatus::SUCCESS;
}
 
void DockRobotAction::on_timeout()
{
  setOutput("error_code_id", ActionResult::TIMEOUT);
  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
}
 
void DockRobotAction::halt()
{
  BtActionNode::halt();
}
 
}  // namespace opennav_docking_bt
 
#include "behaviortree_cpp/bt_factory.h"
BT_REGISTER_NODES(factory)
{
  BT::NodeBuilder builder =
    [](const std::string & name, const BT::NodeConfiguration & config)
    {
      return std::make_unique<opennav_docking_bt::DockRobotAction>(
        name, "dock_robot", config);
    };
 
  factory.registerBuilder<opennav_docking_bt::DockRobotAction>(
    "DockRobot", builder);
}