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ParameterOverrideRegistry Class

Thread-safe registry mapping a port C++ type to a parser that turns a YAML string into a typed BehaviorTree.CPP blackboard entry. More...

Declaration​

class moveit_pro::behavior::ParameterOverrideRegistry { ... }

Included Headers​

#include <parameter_override_registry.hpp>

Public Member Typedefs Index​

usingParseFn = std::function< tl::expected< BT::Any, std::string >(std::string_view)>

Callback that parses a YAML string into a typed BT::Any value. More...

Private Constructors Index​

ParameterOverrideRegistry ()=default

Public Member Functions Index​

voidregisterParser (std::type_index type_index, ParseFn parser)

Register a parser for the type identified by type_index. More...

ParseFnfindParser (std::type_index type_index) const

Look up the parser for type_index. Returns an empty ParseFn if no parser is registered. More...

ParseFnfindParserByName (std::string_view declared_type_name) const

Look up the parser for the C++ type whose spelling is declared_type_name. More...

Private Member Attributes Index​

std::mutexmutex_
std::unordered_map< std::type_index, ParseFn >parsers_
std::unordered_map< std::string, ParseFn, moveit_pro_types::StringHash, std::equal_to<> >parsers_by_name_

Public Static Functions Index​

static ParameterOverrideRegistry &get ()

Access the process-global registry. More...

Description​

Thread-safe registry mapping a port C++ type to a parser that turns a YAML string into a typed BehaviorTree.CPP blackboard entry.

Used by the objective server to apply parameter_overrides from DoObjectiveSequence goals onto the tree's blackboards as typed values, so behaviors do not need a BT::convertFromString<T> specialization visible in every .cpp that calls getInput<T>(). Built-in ROS message types are seeded once at startup via seedBuiltinParameterOverrideParsers(). Customers register custom types by calling registerParameterType<T>() once per type from their behavior loader plugin's registerBehaviors().

Definition at line 42 of file parameter_override_registry.hpp.

Public Member Typedefs​

ParseFn​

using moveit_pro::behavior::ParameterOverrideRegistry::ParseFn = std::function<tl::expected<BT::Any, std::string>(std::string_view)>

Callback that parses a YAML string into a typed BT::Any value.

Returns

tl::expected wrapping the parsed value on success, or a human-readable error string on YAML parse failure. The parser does not touch any blackboard — that is the caller's responsibility so the apply step can be made transactional.

Definition at line 51 of file parameter_override_registry.hpp.

Private Constructors​

ParameterOverrideRegistry()​

moveit_pro::behavior::ParameterOverrideRegistry::ParameterOverrideRegistry ()
 default

Definition at line 83 of file parameter_override_registry.hpp.

Public Member Functions​

findParser()​

ParameterOverrideRegistry::ParseFn moveit_pro::behavior::ParameterOverrideRegistry::findParser (std::type_index type_index)

Look up the parser for type_index. Returns an empty ParseFn if no parser is registered.

Returns by value (a copy of the std::function) so concurrent registerParser calls cannot dangle the pointer to a rehashed unordered_map entry between lookup and invocation.

Declaration at line 70 of file parameter_override_registry.hpp, definition at line 57 of file parameter_override_registry.cpp.

findParserByName()​

ParameterOverrideRegistry::ParseFn moveit_pro::behavior::ParameterOverrideRegistry::findParserByName (std::string_view declared_type_name)

Look up the parser for the C++ type whose spelling is declared_type_name.

Used to resolve an override against an Objective's declared <input_port type="..."> when the consuming port is type-erased (e.g. a ForEach whose port is std::vector<BT::Any>), so port-based type_index resolution yields no usable parser. The query is normalized via normalizeTypeName to match the registered key, so the user-written spelling (std::vector<geometry_msgs::msg::PoseStamped>) resolves to the parser registered for the demangled spelling (which carries std::allocator<...> template args). Returns an empty ParseFn if none matches.

Declaration at line 80 of file parameter_override_registry.hpp, definition at line 67 of file parameter_override_registry.cpp.

registerParser()​

void moveit_pro::behavior::ParameterOverrideRegistry::registerParser (std::type_index type_index, ParseFn parser)

Register a parser for the type identified by type_index.

Overwrites any prior registration for the same type. Also indexes the parser by the normalized demangled spelling of type_index so it can be resolved by name (see findParserByName). Thread-safe.

Declaration at line 63 of file parameter_override_registry.hpp, definition at line 46 of file parameter_override_registry.cpp.

Private Member Attributes​

mutex_​

std::mutex moveit_pro::behavior::ParameterOverrideRegistry::mutex_
 mutable

Definition at line 84 of file parameter_override_registry.hpp.

parsers_​

std::unordered_map<std::type_index, ParseFn> moveit_pro::behavior::ParameterOverrideRegistry::parsers_

Definition at line 85 of file parameter_override_registry.hpp.

parsers_by_name_​

std::unordered_map<std::string, ParseFn, moveit_pro_types::StringHash, std::equal_to<> > moveit_pro::behavior::ParameterOverrideRegistry::parsers_by_name_

Definition at line 88 of file parameter_override_registry.hpp.

Public Static Functions​

get()​

ParameterOverrideRegistry & moveit_pro::behavior::ParameterOverrideRegistry::get ()
 static

Access the process-global registry.

Declaration at line 56 of file parameter_override_registry.hpp, definition at line 40 of file parameter_override_registry.cpp.

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

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