add tool to generate XML models

Author: facontidavide

tools/CMakeLists.txt

@@ -24,3 +24,8 @@ add_executable(bt4_plugin_manifest         bt_plugin_manifest.cpp )
 target_link_libraries(bt4_plugin_manifest  ${BTCPP_LIBRARY} )
 install(TARGETS bt4_plugin_manifest
         DESTINATION ${BTCPP_BIN_DESTINATION} )
+
+add_executable(bt4_nodes_model         bt_nodes_model.cpp )
+target_link_libraries(bt4_nodes_model  ${BTCPP_LIBRARY} )
+install(TARGETS bt4_nodes_model
+        DESTINATION ${BTCPP_BIN_DESTINATION} )

tools/bt_nodes_model.cpp

@@ -0,0 +1,98 @@
+/**
+ * @brief Command line tool to generate TreeNodesModel XML.
+ *
+ * This tool outputs the TreeNodesModel XML for nodes registered in the factory,
+ * optionally including builtin nodes and loading additional plugins.
+ *
+ * Usage:
+ *   bt_nodes_model [--include-builtin] [--plugin <path>]...
+ *
+ * Options:
+ *   --include-builtin   Include builtin nodes in the output
+ *   --plugin <path>     Load a plugin from the specified path (can be repeated)
+ *   -h, --help          Show this help message
+ */
+
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/xml_parsing.h"
+
+#include <cstdio>
+#include <cstring>
+#include <iostream>
+#include <string>
+#include <vector>
+
+void printUsage(const char* program_name)
+{
+  std::printf("Usage: %s [OPTIONS]\n\n", program_name);
+  std::printf("Generate TreeNodesModel XML for BehaviorTree.CPP nodes.\n\n");
+  std::printf("Options:\n");
+  std::printf("  --include-builtin   Include builtin nodes in the output\n");
+  std::printf("  --plugin <path>     Load a plugin from the specified path\n");
+  std::printf("                      (can be specified multiple times)\n");
+  std::printf("  -h, --help          Show this help message\n\n");
+  std::printf("Examples:\n");
+  std::printf("  %s --include-builtin\n", program_name);
+  std::printf("  %s --plugin ./libmy_nodes.so\n", program_name);
+  std::printf("  %s --include-builtin --plugin ./libplugin1.so --plugin "
+              "./libplugin2.so\n",
+              program_name);
+}
+
+int main(int argc, char* argv[])
+{
+  bool include_builtin = false;
+  std::vector<std::string> plugins;
+
+  // Parse command line arguments
+  for(int i = 1; i < argc; ++i)
+  {
+    if(std::strcmp(argv[i], "--include-builtin") == 0)
+    {
+      include_builtin = true;
+    }
+    else if(std::strcmp(argv[i], "--plugin") == 0)
+    {
+      if(i + 1 >= argc)
+      {
+        std::fprintf(stderr, "Error: --plugin requires a path argument\n");
+        return 1;
+      }
+      plugins.push_back(argv[++i]);
+    }
+    else if(std::strcmp(argv[i], "-h") == 0 || std::strcmp(argv[i], "--help") == 0)
+    {
+      printUsage(argv[0]);
+      return 0;
+    }
+    else
+    {
+      std::fprintf(stderr, "Error: Unknown option '%s'\n", argv[i]);
+      printUsage(argv[0]);
+      return 1;
+    }
+  }
+
+  BT::BehaviorTreeFactory factory;
+
+  // Load plugins
+  for(const auto& plugin_path : plugins)
+  {
+    try
+    {
+      factory.registerFromPlugin(plugin_path);
+    }
+    catch(const std::exception& e)
+    {
+      std::fprintf(stderr, "Error loading plugin '%s': %s\n", plugin_path.c_str(),
+                   e.what());
+      return 1;
+    }
+  }
+
+  // Generate and print the TreeNodesModel XML
+  std::string xml = BT::writeTreeNodesModelXML(factory, include_builtin);
+  std::cout << xml << std::endl;
+
+  return 0;
+}