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Adds onLoopBeforeTick callback to BT::TreeExecutionServer. by b-adkins · Pull Request #101 · BehaviorTree/BehaviorTree.ROS2 · GitHub

/ BehaviorTree.ROS2 Public

Adds onLoopBeforeTick callback to BT::TreeExecutionServer. #101

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Adds onLoopBeforeTick callback to BT::TreeExecutionServer. #101

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15 changes: 15 additions & 0 deletions behaviortree_ros2/include/behaviortree_ros2/tree_execution_server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,21 @@ class TreeExecutionServer
virtual void registerNodesIntoFactory(BT::BehaviorTreeFactory& factory)
{}

/**
* @brief onLoopBeforeTick invoked at each loop, before tree.tickOnce().
* It can be overridden to avoid ticking the tree without blocking the
* rest of the execute loop.
*
* Consider whether it's better to inject a preTickCallback to the root node
* or another node of the behavior tree.
*
* @return False to skip the tick.
*/
virtual bool onLoopBeforeTick()
{
return true;
}

/**
* @brief onLoopAfterTick invoked at each loop, after tree.tickOnce().
* If it returns a valid NodeStatus, the tree will stop and return that status.
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31 changes: 17 additions & 14 deletions behaviortree_ros2/src/tree_execution_server.cpp
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Expand Up @@ -222,21 +222,24 @@ void TreeExecutionServer::execute(
return;
}

// tick the tree once and publish the action feedback
status = p_->tree.tickExactlyOnce();

if(const auto res = onLoopAfterTick(status); res.has_value())
{
stop_action(res.value(), "Action Server aborted by onLoopAfterTick()");
goal_handle->abort(action_result);
return;
}

if(const auto res = onLoopFeedback(); res.has_value())
if(onLoopBeforeTick())
{
auto feedback = std::make_shared<ExecuteTree::Feedback>();
feedback->message = res.value();
goal_handle->publish_feedback(feedback);
// tick the tree once and publish the action feedback
status = p_->tree.tickExactlyOnce();

if(const auto res = onLoopAfterTick(status); res.has_value())
{
stop_action(res.value(), "Action Server aborted by onLoopAfterTick()");
goal_handle->abort(action_result);
return;
}

if(const auto res = onLoopFeedback(); res.has_value())
{
auto feedback = std::make_shared<ExecuteTree::Feedback>();
feedback->message = res.value();
goal_handle->publish_feedback(feedback);
}
}

const auto now = std::chrono::steady_clock::now();
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