changed funtor signature

Author: Davide Faconti

examples/t04_blackboard.cpp

@@ -41,15 +41,15 @@ const std::string xml_text = R"(
 
 // Write into the blackboard key: [GoalPose]
 // Use this function signature to create a SimpleAction that needs the blackboard
-NodeStatus CalculateGoalPose(const Blackboard::Ptr& blackboard)
+NodeStatus CalculateGoalPose(TreeNode& self)
 {
     const Pose2D mygoal = { 1, 2, M_PI};
 
     // RECOMMENDED: check if the blackboard is nullptr
-    if( blackboard )
+    if( self.blackboard() )
     {
         // store it in the blackboard
-        blackboard->set("GoalPose", mygoal);
+        self.blackboard()->set("GoalPose", mygoal);
     }
 
     printf("[CalculateGoalPose]\n");

include/behavior_tree_core/action_node.h

@@ -47,7 +47,7 @@ class ActionNodeBase : public LeafNode
 class SimpleActionNode : public ActionNodeBase
 {
   public:
-    typedef std::function<NodeStatus(const Blackboard::Ptr&)> TickFunctor;
+    typedef std::function<NodeStatus(TreeNode&)> TickFunctor;
 
     // Constructor: you must provide the function to call when tick() is invoked
     SimpleActionNode(const std::string& name, TickFunctor tick_functor);

include/behavior_tree_core/condition_node.h

@@ -49,7 +49,7 @@ class ConditionNode : public LeafNode
 class SimpleConditionNode : public ConditionNode
 {
   public:
-    typedef std::function<NodeStatus(const Blackboard::Ptr&)> TickFunctor;
+    typedef std::function<NodeStatus(TreeNode&)> TickFunctor;
 
     // Constructor: you must provide the function to call when tick() is invoked
     SimpleConditionNode(const std::string& name, TickFunctor tick_functor);

include/behavior_tree_core/decorator_node.h

@@ -47,7 +47,7 @@ class DecoratorNode : public TreeNode
 class SimpleDecoratorNode : public DecoratorNode
 {
   public:
-    typedef std::function<NodeStatus(NodeStatus,const Blackboard::Ptr&)> TickFunctor;
+    typedef std::function<NodeStatus(NodeStatus, TreeNode&)> TickFunctor;
 
     // Constructor: you must provide the function to call when tick() is invoked
     SimpleDecoratorNode(const std::string& name, TickFunctor tick_functor);

sample_nodes/crossdoor_nodes.cpp

@@ -8,66 +8,66 @@ BT_REGISTER_NODES(factory)
 }
 
 
-NodeStatus CrossDoor::IsDoorOpen(const Blackboard::Ptr &blackboard)
+NodeStatus CrossDoor::IsDoorOpen(TreeNode &self)
 {
     SleepMS(500);
-    bool door_open = blackboard->get<bool>("door_open");
+    bool door_open = self.blackboard()->get<bool>("door_open");
 
     return  door_open ? NodeStatus::SUCCESS : NodeStatus::FAILURE;
 }
 
-NodeStatus CrossDoor::IsDoorLocked(const Blackboard::Ptr &blackboard)
+NodeStatus CrossDoor::IsDoorLocked(TreeNode &self)
 {
     SleepMS(500);
-    bool door_locked = blackboard->get<bool>("door_locked");
+    bool door_locked = self.blackboard()->get<bool>("door_locked");
 
     return door_locked ? NodeStatus::SUCCESS : NodeStatus::FAILURE;
 }
 
-NodeStatus CrossDoor::UnlockDoor(const Blackboard::Ptr &blackboard)
+NodeStatus CrossDoor::UnlockDoor(TreeNode &self)
 {
     SleepMS(2000);
-    blackboard->set("door_locked", false);
+    self.blackboard()->set("door_locked", false);
 
     return NodeStatus::SUCCESS;
 }
 
-NodeStatus CrossDoor::PassThroughDoor(const Blackboard::Ptr &blackboard)
+NodeStatus CrossDoor::PassThroughDoor(TreeNode &self)
 {
     SleepMS(1000);
-    bool door_open = blackboard->get<bool>("door_open");
+    bool door_open = self.blackboard()->get<bool>("door_open");
 
     return door_open ? NodeStatus::SUCCESS : NodeStatus::FAILURE;
 }
 
-NodeStatus CrossDoor::PassThroughWindow(const Blackboard::Ptr &blackboard)
+NodeStatus CrossDoor::PassThroughWindow(TreeNode &self)
 {
     SleepMS(1000);
     return NodeStatus::SUCCESS;
 }
 
-NodeStatus CrossDoor::OpenDoor(const Blackboard::Ptr &blackboard)
+NodeStatus CrossDoor::OpenDoor(TreeNode &self)
 {
     SleepMS(2000);
-    bool door_locked = blackboard->get<bool>("door_locked");
+    bool door_locked = self.blackboard()->get<bool>("door_locked");
 
     if (door_locked)
     {
         return NodeStatus::FAILURE;
     }
 
-    blackboard->set("door_open", true);
+    self.blackboard()->set("door_open", true);
     return NodeStatus::SUCCESS;
 }
 
-NodeStatus CrossDoor::CloseDoor(const Blackboard::Ptr &blackboard)
+NodeStatus CrossDoor::CloseDoor(TreeNode &self)
 {
-    bool door_open = blackboard->get<bool>("door_open");
+    bool door_open = self.blackboard()->get<bool>("door_open");
 
     if (door_open)
     {
         SleepMS(1500);
-        blackboard->set("door_open", false);
+        self.blackboard()->set("door_open", false);
     }
     return NodeStatus::SUCCESS;
 }

sample_nodes/crossdoor_nodes.h

@@ -10,19 +10,19 @@ inline void SleepMS(int ms)
     std::this_thread::sleep_for(std::chrono::milliseconds(ms));
 }
 
-BT::NodeStatus IsDoorOpen(const Blackboard::Ptr& blackboard);
+BT::NodeStatus IsDoorOpen(TreeNode &self);
 
-BT::NodeStatus IsDoorLocked(const Blackboard::Ptr& blackboard);
+BT::NodeStatus IsDoorLocked(TreeNode &self);
 
-BT::NodeStatus UnlockDoor(const Blackboard::Ptr& blackboard);
+BT::NodeStatus UnlockDoor(TreeNode &self);
 
-BT::NodeStatus PassThroughDoor(const Blackboard::Ptr& blackboard);
+BT::NodeStatus PassThroughDoor(TreeNode &self);
 
-BT::NodeStatus PassThroughWindow(const Blackboard::Ptr& blackboard);
+BT::NodeStatus PassThroughWindow(TreeNode &self);
 
-BT::NodeStatus OpenDoor(const Blackboard::Ptr& blackboard);
+BT::NodeStatus OpenDoor(TreeNode &self);
 
-BT::NodeStatus CloseDoor(const Blackboard::Ptr& blackboard);
+BT::NodeStatus CloseDoor(TreeNode &self);
 
 void RegisterNodes(BT::BehaviorTreeFactory& factory);
 

sample_nodes/dummy_nodes.h

@@ -60,7 +60,6 @@ class SaySomething: public BT::ActionNodeBase
 
     // It is mandatory to define this static method.
     // If you don't, BehaviorTreeFactory::registerNodeType will not compile.
-    //
     static const BT::NodeParameters& requiredNodeParameters()
     {
         static BT::NodeParameters params = {{"message",""}};

src/action_node.cpp

@@ -37,7 +37,7 @@ NodeStatus SimpleActionNode::tick()
         prev_status = NodeStatus::RUNNING;
     }
 
-    NodeStatus status = tick_functor_( blackboard() );
+    NodeStatus status = tick_functor_( *this );
     if (status != prev_status)
     {
         setStatus(status);

src/condition_node.cpp

@@ -34,7 +34,7 @@ SimpleConditionNode::SimpleConditionNode(const std::string &name,
 
 NodeStatus SimpleConditionNode::tick()
 {
-    return tick_functor_(blackboard());
+    return tick_functor_(*this);
 }
 
 }

src/decorator_node.cpp

@@ -65,7 +65,7 @@ SimpleDecoratorNode::SimpleDecoratorNode(const std::string &name,
 
 NodeStatus SimpleDecoratorNode::tick()
 {
-    return  tick_functor_( child()->executeTick(), blackboard() );
+    return  tick_functor_( child()->executeTick(), *this );
 }
 
 }