transition_event.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// 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.
 
#ifndef BEHAVIOR_TREE_PLUGIN__TRANSITION_EVENTS__TRANSITION_EVENT_HPP_
#define BEHAVIOR_TREE_PLUGIN__TRANSITION_EVENTS__TRANSITION_EVENT_HPP_
 
#include <behaviortree_cpp_v3/loggers/bt_cout_logger.h>
 
#include <functional>
#include <memory>
#include <rclcpp/rclcpp.hpp>
 
namespace behavior_tree_plugin
{
class TransitionEvent
{
public:
  TransitionEvent(BT::TreeNode * root_node);
 
protected:
  virtual void callback(
    BT::Duration timestamp, const BT::TreeNode & node, BT::NodeStatus prev_status,
    BT::NodeStatus status) = 0;
  void updateCurrentAction(const BT::NodeStatus & status, const BT::TreeNode & node);
  BT::TimePoint first_timestamp_;
  std::vector<BT::TreeNode::StatusChangeSubscriber> subscribers_;
  BT::TimestampType type_;
  std::string current_action_;
};
}  // namespace behavior_tree_plugin
 
#endif  // BEHAVIOR_TREE_PLUGIN__TRANSITION_EVENTS__TRANSITION_EVENT_HPP_