Struct TreeNode 

pub struct TreeNode {
    pub data: TreeNodeData,
    pub context: Box<dyn Any + Send + Sync>,
    pub tick_fn: for<'a> fn(&'a mut TreeNodeData, &'a mut Box<dyn Any + Send + Sync>) -> BoxFuture<'a, Result<NodeStatus, NodeError>>,
    pub start_fn: for<'a> fn(&'a mut TreeNodeData, &'a mut Box<dyn Any + Send + Sync>) -> BoxFuture<'a, Result<NodeStatus, NodeError>>,
    pub halt_fn: for<'a> fn(&'a mut TreeNodeData, &'a mut Box<dyn Any + Send + Sync>) -> BoxFuture<'a, ()>,
}

Fields

data: TreeNodeData

context: Box<dyn Any + Send + Sync>

tick_fn: for<'a> fn(&'a mut TreeNodeData, &'a mut Box<dyn Any + Send + Sync>) -> BoxFuture<'a, Result<NodeStatus, NodeError>>

Function pointer to tick

start_fn: for<'a> fn(&'a mut TreeNodeData, &'a mut Box<dyn Any + Send + Sync>) -> BoxFuture<'a, Result<NodeStatus, NodeError>>

Function pointer to on_start function (if StatefulActionNode) Otherwise points to tick_fn

halt_fn: for<'a> fn(&'a mut TreeNodeData, &'a mut Box<dyn Any + Send + Sync>) -> BoxFuture<'a, ()>

Function pointer to halt

Implementations

impl TreeNode

pub fn status(&self) -> NodeStatus

Returns the current node’s status

pub fn reset_status(&mut self)

Resets the status back to NodeStatus::Idle

pub fn set_status(&mut self, status: NodeStatus)

Update the node’s status

pub async fn execute_tick(&mut self) -> NodeResult

Tick the node

pub async fn halt(&mut self)

Halt the node

pub fn name(&self) -> &str

Get the name of the node

pub fn config_mut(&mut self) -> &mut NodeConfig

Get a mutable reference to the NodeConfig

pub fn config(&self) -> &NodeConfig

Get a reference to the NodeConfig

pub fn node_type(&self) -> NodeType

Get the node’s NodeType, which is only:

• NodeType::Control
• NodeType::Decorator
• NodeType::SyncAction
• NodeType::StatefulAction

pub fn node_category(&self) -> NodeCategory

Get the node’s NodeCategory, which is more general than NodeType

pub fn provided_ports(&self) -> PortsList

Call the node’s ports() function if it has one, returning the PortsList object

pub fn children(&self) -> Option<impl Iterator<Item = &TreeNode>>

Return an iterator over the children. Returns None if this node has no children (i.e. an Action node)

pub fn children_mut(&mut self) -> Option<impl Iterator<Item = &mut TreeNode>>

Return a mutable iterator over the children. Returns None if this node has no children (i.e. an Action node)

Trait Implementations

impl Debug for TreeNode

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.