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

#include <parameter_override_registry.hpp>

Public Types
using	ParseFn = std::function< tl::expected< BT::Any, std::string >(std::string_view)>
	Callback that parses a YAML string into a typed `BT::Any` value.

Public Member Functions
void	registerParser (std::type_index type_index, ParseFn parser)
	Register a parser for the type identified by `type_index`.

ParseFn	findParser (std::type_index type_index) const
	Look up the parser for `type_index`. Returns an empty `ParseFn` if no parser is registered.

Static Public Member Functions
static ParameterOverrideRegistry &	get ()
	Access the process-global registry.

Detailed 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().

Member Typedef Documentation

◆ 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.

Member Function Documentation

◆ findParser()

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

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.

◆ get()

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

static

Access the process-global registry.

◆ 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. Thread-safe.

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

Public Types

Public Member Functions