#include <WsfAdvancedBehaviorTreeNode.hpp>

Inheritance diagram for WsfAdvancedBehaviorTreeLeafNode:

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Collaboration diagram for WsfAdvancedBehaviorTreeLeafNode:

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Public Member Functions
	WsfAdvancedBehaviorTreeLeafNode (const WsfScenario &aScenario)
	WsfAdvancedBehaviorTreeLeafNode (const WsfAdvancedBehaviorTreeLeafNode &aSrc)
WsfAdvancedBehaviorTreeLeafNode &	operator= (const WsfAdvancedBehaviorTreeLeafNode &aRhs)=delete
WsfAdvancedBehaviorTreeLeafNode *	Clone () const override
	Clone this node.
const int	GetDepth () const override
	Return the depth of this node.
void	Halt (const std::string &aReason) override
	Halt the execution of this node.
const double	PreconditionValue () const override
	Returns a fitness value representing how well the precondition ran.
bool	ProcessInput (UtInput &aInput) override
	Process input from a script.
void	RegisterInput (UtInput &aInput) override
	Register a file path and last modified time from an input.
void	TurnOff () override
	Turns this node off.
void	TurnOn () override
	Turns this node on.
void	ResetPreconditionVars () override
	Reset the precondition ran and met var to false at the beginning of the tree tick.
Public Member Functions inherited from WsfAdvancedBehaviorTreeNode
	WsfAdvancedBehaviorTreeNode (const WsfScenario &aScenario)
	WsfAdvancedBehaviorTreeNode (const WsfAdvancedBehaviorTreeNode &aSrc)
	~WsfAdvancedBehaviorTreeNode () override
WsfAdvancedBehaviorTreeNode &	operator= (const WsfAdvancedBehaviorTreeNode &)=delete
virtual void	AddChild (std::shared_ptr< WsfAdvancedBehaviorTreeNode > aNodePtr)
	Add a child to this node.
virtual void	AddTree (ut::CloneablePtr< WsfAdvancedBehaviorTree > &aTreePtr)
	Add a tree child to this node.
virtual std::vector< std::shared_ptr< WsfAdvancedBehaviorTreeNode > > &	GetChildren ()
	Return a list of current children held by this node.
virtual std::map< size_t, ut::CloneablePtr< WsfAdvancedBehaviorTree > > &	GetTrees ()
	Return a list of current children trees held by this node.
virtual void	OutputTreeStructures (const double aSimTime)
	Output this nodes children trees structures to the event pipe.
virtual void	OutputTreeStates (const double aSimTime)
	Output this nodes tree states to the event pipe if they are outputting.
const time_t &	GetFileLastModTime () const
	Return the last time the script this node was declared in was modified.
const std::string &	GetFilePath () const
	Return the file path to the script this node was declared in.
std::shared_ptr< WsfAttributeContainer >	GetBlackboard ()
	Return a pointer to the blackboard for this node.
const std::string &	GetNodeName () const
	Get the name of this node.
void	SetNodeName (const std::string &aName)
	Set the name of this node.
const std::string &	GetDescription () const
	Get the description of this node.
void	SetDescription (const std::string &aDesc)
	Set the description of this node.
const BT::ReturnStatus &	GetNodeStatus () const
	Get the ReturnStatus of this node.
const WsfScenario &	GetScenario () const
	Return the current scenario.
const char *	GetScriptClassName () const override
	Return the script class name for this node.
const WsfScriptContext &	GetScriptContext () const
	Returns a reference to the script context for this node.
WsfSimulation *	GetSimulation () const
	Return a pointer to the simulation.
const std::string &	GetPreconditionTooltip () const
	Return the current precondition tooltip text for this node.
const std::string &	GetExecuteTooltip () const
	Return the current execute tooltip text for this node.
const bool &	GetTurnedOn () const
	Returns if this node is on.
virtual void	HaltChildren (unsigned int aIndex, const std::string &aReason)
	Halt the execution of this node's children starting at an index.
virtual const bool	HasChildrenContainer () const
	Get if this node can have children.
const bool &	HasParent () const
	Get if this node has a parent.
const unsigned int &	Id () const
	Return the unique id for this node.
const UtColor &	GetColor () const
	Return this node's color.
bool	HasDefinedColor () const
	Return the string representation of this node's color.
virtual bool	Initialize (double aSimTime, WsfScriptContext *aParentContextPtr)
	Initializes this node.
WsfPlatform *	GetOwningPlatform () const
	Return a pointer to the owning platform of this node.
WsfScriptProcessor *	GetOwningProcessor () const
	Return a pointer to the owning processor of this node.
WsfAdvancedBehaviorTree *	GetOwningTree () const
	Return a pointer to the owning tree of this node.
WsfAdvancedBehaviorTreeNode *	GetParent () const
	Returns a pointer to the current parent of this node.
const bool	PreconditionsMet () const
	Returns a boolean representing if the precondition ran successfully or not.
bool	ProcessInput (UtInput &aInput) override
	Process input from a script.
virtual bool	ProcessMessage (double aSimTime, const WsfMessage &aMessage)
	Process a script message.
void	SetFilePath (const std::string &aPath)
	Set the file path for this node.
void	SetHasParent (const bool aValue)
	Set if this node has a parent.
void	SetParent (WsfAdvancedBehaviorTreeNode *aNodePtr)
	Set the parent of this node.
void	SetTooltip (const std::string &aText, const bool aSendEvent=false)
	Set the tooltip text for this node.
void	SetPreconditionTooltip (const std::string &aText, const bool aSendEvent=false)
	Set the tooltip text for this node.
void	SetExecuteTooltip (const std::string &aText, const bool aSendEvent=false)
	Set the tooltip text for this node.
virtual BT::ReturnStatus	Tick ()
	Tick forward and update the execution of this node.
virtual BT::ReturnStatus	TickFunction ()
	This is the functionality ran by each node, e.g how the node handles its tick.
bool	ExecutedLastTick () const
WsfAdvancedBehaviorTreeNode *	FindNode (const std::string &aNodeName)
	Find the node based on the script-configured name.
void	FindLastExecuted (std::vector< WsfAdvancedBehaviorTreeNode * > &aLastExecuted)
	Find and return all nodes exectued last tick.
void	SetIsTreeRootNode (const bool aState)
	Set if this node is the root node for a tree.
bool	GetIsTreeRootNode () const
	Get if this tree is a root node for a tree.
WsfScriptStateMachine *	ChildStateMachine ()
WsfAdvancedBehaviorTreeNode *	GetTopRootNode ()
	Get the top-most root node (ignore nodes considered as tree root nodes).
UtScript *	GetExecuteScript ()
	Return a pointer to the execute script for this node.
void	SetInitScript (UtScript *aScriptPtr)
Public Member Functions inherited from WsfObject
	WsfObject ()
	This is the constructor for the WsfObject class.
	~WsfObject () override
	This is the destructor for the WsfObject class.
const char *	GetScriptClassName () const override
const std::string &	GetType () const
WsfStringId	GetTypeId () const
	Get the string ID of the 'type' of the object.
void	SetType (WsfStringId aType)
const std::string &	GetBaseType () const
WsfStringId	GetBaseTypeId () const
const TypeList &	GetTypeList () const
bool	IsA_TypeOf (WsfStringId aType) const
WsfObject &	operator= (const WsfObject &aRhs)
	Assignment operator.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
const std::string &	GetName () const
WsfStringId	GetNameId () const
void	SetName (WsfStringId aName)

Protected Member Functions
void	SetTree (WsfAdvancedBehaviorTree *aTreePtr) override
	Set the owning tree for this node.
Protected Member Functions inherited from WsfAdvancedBehaviorTreeNode
bool	RegisterExternVariable (const std::string &aVariableType, const std::string &aVariableName)
	Register an external variable.
UtScriptContext *	GetScriptAccessibleContext () const override
	Return the context from the script.
void	SetFileInfo (const std::string &aPath, const time_t &aModTime)
	Set the file path and last mod time for this node.
void	SetNodeStatus (const BT::ReturnStatus aStatus)
	Set the ReturnStatus of this node.
	WsfObject (const WsfObject &aSrc)
	Copy constructor (for Clone()).

Additional Inherited Members
Public Types inherited from WsfObject
typedef std::vector< WsfStringId >	TypeList
	The list of types returned by GetTypeList.
Static Public Member Functions inherited from WsfAdvancedBehaviorTreeNode
static unsigned int	GetUniqueNodeId ()
	Get a unique int id for this node.
static void	Reset ()
	Reset the unique int counter.
Protected Attributes inherited from WsfAdvancedBehaviorTreeNode
unsigned int	mId {0}
const WsfScenario &	mScenario
std::shared_ptr< WsfAttributeContainer >	mBlackboard
WsfScriptContext *	mContextPtr {nullptr}
WsfScriptMessageHandler *	mMessageHandlerPtr {nullptr}
WsfAdvancedBehaviorTreeNode *	mParentPtr {nullptr}
WsfAdvancedBehaviorTree *	mParentTreePtr {nullptr}
WsfScriptStateMachine *	mFiniteStateMachinePtr {nullptr}
int	mStateIndex {0}
time_t	mFileLastModTime
bool	mDebug {false}
bool	mInitialized {false}
bool	mTurnedOn {true}
bool	mIsTreeRootNode {false}
bool	mHasParent {false}
bool	mExecutedLastTick {false}
bool	mInPrecondition {false}
bool	mPreconditionRan {false}
bool	mPreconditionMet {false}
BT::ReturnStatus	mReturnStatus {BT::cIDLE}
std::string	mFullPathFileName {""}
std::string	mName {""}
std::string	mDescription {""}
std::string	mPreconditionTooltip {""}
std::string	mExecuteTooltip {""}
double	mPreconditionTooltipTimestamp {-1.0}
double	mExecuteTooltipTimestamp {-1.0}
UtScript *	mOnInitScriptPtr {nullptr}
UtScript *	mNewExecuteScriptPtr {nullptr}
UtScript *	mNewFailScriptPtr {nullptr}
UtScript *	mPreconditionScriptPtr {nullptr}
UtScript *	mExecuteScriptPtr {nullptr}
UtColor	mColor
bool	mHasDefinedColor

Constructor & Destructor Documentation

◆ WsfAdvancedBehaviorTreeLeafNode() [1/2]

WsfAdvancedBehaviorTreeLeafNode::WsfAdvancedBehaviorTreeLeafNode ( const WsfScenario & aScenario )

References WsfObject::SetName(), WsfObject::SetType(), and WsfAdvancedBehaviorTreeNode::WsfAdvancedBehaviorTreeNode().

Referenced by Clone(), operator=(), WsfAdvancedBehaviorTreeActionNode::WsfAdvancedBehaviorTreeActionNode(), WsfAdvancedBehaviorTreeConditionNode::WsfAdvancedBehaviorTreeConditionNode(), and WsfAdvancedBehaviorTreeLeafNode().

◆ WsfAdvancedBehaviorTreeLeafNode() [2/2]

WsfAdvancedBehaviorTreeLeafNode::WsfAdvancedBehaviorTreeLeafNode ( const WsfAdvancedBehaviorTreeLeafNode & aSrc )

References WsfAdvancedBehaviorTreeLeafNode(), and WsfAdvancedBehaviorTreeNode::WsfAdvancedBehaviorTreeNode().

Member Function Documentation

◆ Clone()

WsfAdvancedBehaviorTreeLeafNode * WsfAdvancedBehaviorTreeLeafNode::Clone ( ) const

overridevirtual

Clone this node.

Implements WsfAdvancedBehaviorTreeNode.

References WsfAdvancedBehaviorTreeLeafNode().

◆ GetDepth()

const int WsfAdvancedBehaviorTreeLeafNode::GetDepth ( ) const

inlineoverridevirtual

Return the depth of this node.

Leaf nodes have no children, so depth will always be 0.

Reimplemented from WsfAdvancedBehaviorTreeNode.

◆ Halt()

void WsfAdvancedBehaviorTreeLeafNode::Halt ( const std::string & aReason )

overridevirtual

Halt the execution of this node.

Parameters

aReason reason for halting.

Reimplemented from WsfAdvancedBehaviorTreeNode.

References BT::cHALTED, WsfAdvancedBehaviorTreeNode::SetExecuteTooltip(), WsfAdvancedBehaviorTreeNode::SetNodeStatus(), and WsfAdvancedBehaviorTreeNode::SetPreconditionTooltip().

Referenced by WsfAdvancedBehaviorTreeActionNode::Halt(), and WsfAdvancedBehaviorTreeConditionNode::Halt().

◆ operator=()

WsfAdvancedBehaviorTreeLeafNode & WsfAdvancedBehaviorTreeLeafNode::operator= ( const WsfAdvancedBehaviorTreeLeafNode & aRhs )

delete

References WsfAdvancedBehaviorTreeLeafNode().

◆ PreconditionValue()

const double WsfAdvancedBehaviorTreeLeafNode::PreconditionValue ( ) const

overridevirtual

Returns a fitness value representing how well the precondition ran.

This will be used to determine which node has the highest priority to execute or which node has the highest weight.

Reimplemented from WsfAdvancedBehaviorTreeNode.

References BT::cSUCCESS, WsfAdvancedBehaviorTreeNode::mContextPtr, WsfAdvancedBehaviorTreeNode::mPreconditionMet, WsfAdvancedBehaviorTreeNode::mPreconditionRan, and WsfAdvancedBehaviorTreeNode::mPreconditionScriptPtr.

◆ ProcessInput()

bool WsfAdvancedBehaviorTreeLeafNode::ProcessInput ( UtInput & aInput )

overridevirtual

Process input from a script.

Parameters

aInput input to parse.

Reimplemented from WsfObject.

References WsfAdvancedBehaviorTreeNode::GetScenario(), WsfAdvancedBehaviorTreeNode::mParentTreePtr, WsfAdvancedBehaviorTreeNode::ProcessInput(), and WsfObject::SetName().

Referenced by WsfScriptStateMachine::State::ProcessInput().

◆ RegisterInput()

void WsfAdvancedBehaviorTreeLeafNode::RegisterInput ( UtInput & aInput )

overridevirtual

Register a file path and last modified time from an input.

Parameters

aInput input to parse.

Reimplemented from WsfAdvancedBehaviorTreeNode.

References WsfAdvancedBehaviorTreeNode::SetFilePath().

◆ ResetPreconditionVars()

void WsfAdvancedBehaviorTreeLeafNode::ResetPreconditionVars ( )

overridevirtual

Reset the precondition ran and met var to false at the beginning of the tree tick.

Reimplemented from WsfAdvancedBehaviorTreeNode.

References WsfAdvancedBehaviorTreeNode::mPreconditionMet, WsfAdvancedBehaviorTreeNode::mPreconditionRan, and WsfAdvancedBehaviorTreeNode::mPreconditionScriptPtr.

◆ SetTree()

void WsfAdvancedBehaviorTreeLeafNode::SetTree ( WsfAdvancedBehaviorTree * aTreePtr )

overrideprotectedvirtual

Set the owning tree for this node.

Parameters

aTreePtr the tree that will own(parent) this node.

Reimplemented from WsfAdvancedBehaviorTreeNode.

References WsfAdvancedBehaviorTreeNode::mParentTreePtr.

◆ TurnOff()

void WsfAdvancedBehaviorTreeLeafNode::TurnOff ( )

overridevirtual

Turns this node off.

Reimplemented from WsfAdvancedBehaviorTreeNode.

References BT::cDISABLED, WsfAdvancedBehaviorTreeNode::mExecuteTooltip, WsfAdvancedBehaviorTreeNode::mPreconditionTooltip, WsfAdvancedBehaviorTreeNode::mTurnedOn, and WsfAdvancedBehaviorTreeNode::SetNodeStatus().

Referenced by WsfAdvancedBehaviorTreeActionNode::Tick(), and WsfAdvancedBehaviorTreeConditionNode::Tick().

◆ TurnOn()

void WsfAdvancedBehaviorTreeLeafNode::TurnOn ( )

overridevirtual

Turns this node on.

Reimplemented from WsfAdvancedBehaviorTreeNode.

References BT::cIDLE, WsfAdvancedBehaviorTreeNode::mExecuteTooltip, WsfAdvancedBehaviorTreeNode::mPreconditionTooltip, WsfAdvancedBehaviorTreeNode::mTurnedOn, and WsfAdvancedBehaviorTreeNode::SetNodeStatus().

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ WsfAdvancedBehaviorTreeLeafNode() [1/2]

◆ WsfAdvancedBehaviorTreeLeafNode() [2/2]

Member Function Documentation

◆ Clone()

◆ GetDepth()

◆ Halt()

◆ operator=()

◆ PreconditionValue()

◆ ProcessInput()

◆ RegisterInput()

◆ ResetPreconditionVars()

◆ SetTree()

◆ TurnOff()

◆ TurnOn()