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Merge pull request #529 from BehaviorTree/preaparing-4.1
2 parents aaab50f + 3449eb0 commit 4117e74

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+26861
-153
lines changed

‎.github/workflows/codeql.yml renamed to ‎.github/workflows/codeql.yml.bkp

File renamed without changes.

‎CMakeLists.txt

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@@ -92,8 +92,11 @@ list(APPEND BT_SOURCE
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src/shared_library.cpp
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src/tree_node.cpp
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src/script_parser.cpp
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src/json_export.cpp
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src/xml_parsing.cpp
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src/actions/test_node.cpp
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src/decorators/inverter_node.cpp
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src/decorators/repeat_node.cpp
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src/decorators/retry_node.cpp
@@ -113,6 +116,8 @@ list(APPEND BT_SOURCE
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src/loggers/bt_cout_logger.cpp
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src/loggers/bt_file_logger.cpp
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src/loggers/bt_minitrace_logger.cpp
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src/loggers/bt_observer.cpp
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src/loggers/groot2_publisher.cpp
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3rdparty/tinyxml2/tinyxml2.cpp
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3rdparty/minitrace/minitrace.cpp

‎examples/CMakeLists.txt

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@@ -25,7 +25,9 @@ CompileExample("t06_subtree_port_remapping")
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CompileExample("t07_load_multiple_xml")
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CompileExample("t08_additional_node_args")
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CompileExample("t09_scripting")
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CompileExample("t10_observer")
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CompileExample("t11_replace_rules")
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CompileExample("t12_groot_howto")
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CompileExample("ex01_wrap_legacy")
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CompileExample("ex02_runtime_ports")

‎examples/t10_observer.cpp

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#include "behaviortree_cpp/bt_factory.h"
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#include "behaviortree_cpp/loggers/bt_observer.h"
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/** Show the use of the TreeObserver.
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*/
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// clang-format off
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static const char* xml_text = R"(
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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<Sequence>
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<Fallback>
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<AlwaysFailure name="failing_action"/>
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<SubTree ID="SubTreeA" name="mysub"/>
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</Fallback>
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<AlwaysSuccess name="last_action"/>
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</Sequence>
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</BehaviorTree>
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<BehaviorTree ID="SubTreeA">
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<Sequence>
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<AlwaysSuccess name="action_subA"/>
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<SubTree ID="SubTreeB" name="sub_nested"/>
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<SubTree ID="SubTreeB" />
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</Sequence>
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</BehaviorTree>
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<BehaviorTree ID="SubTreeB">
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<AlwaysSuccess name="action_subB"/>
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</BehaviorTree>
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</root>
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)";
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// clang-format on
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int main()
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{
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BT::BehaviorTreeFactory factory;
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factory.registerBehaviorTreeFromText(xml_text);
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auto tree = factory.createTree("MainTree");
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// Helper function to print the tree.
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BT::printTreeRecursively(tree.rootNode());
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// The purpose of the observer is to save some statistics about the number of times
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// a certain node returns SUCCESS or FAILURE.
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// This is particularly useful to create unit tests and to check if
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// a certain set of transitions happened as expected
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BT::TreeObserver observer(tree);
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// Print the unique ID and the corresponding human readable path
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// Path is also expected to be unique.
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std::map<uint16_t, std::string> ordered_UID_to_path;
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for(const auto& [name, uid]: observer.pathToUID()) {
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ordered_UID_to_path[uid] = name;
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}
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for(const auto& [uid, name]: ordered_UID_to_path) {
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std::cout << uid << " -> " << name << std::endl;
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}
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tree.tickWhileRunning();
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// You can access a specific statistic, using is full path or the UID
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const auto& last_action_stats = observer.getStatistics("last_action");
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assert(last_action_stats.transitions_count > 0);
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std::cout << "----------------" << std::endl;
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// print all the statistics
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for(const auto& [uid, name]: ordered_UID_to_path) {
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const auto& stats = observer.getStatistics(uid);
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std::cout << "[" << name
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<< "] \tT/S/F: " << stats.transitions_count
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<< "/" << stats.success_count
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<< "/" << stats.failure_count
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<< std::endl;
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}
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return 0;
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}

‎examples/t11_replace_rules.cpp

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#include "behaviortree_cpp/bt_factory.h"
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#include "dummy_nodes.h"
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// clang-format off
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static const char* xml_text = R"(
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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<Sequence>
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<SaySomething name="talk" message="hello world"/>
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<Fallback>
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<AlwaysFailure name="failing_action"/>
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<SubTree ID="MySub" name="mysub"/>
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</Fallback>
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<SaySomething message="before last_action"/>
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<Script code="msg:='after last_action'"/>
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<AlwaysSuccess name="last_action"/>
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<SaySomething message="{msg}"/>
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</Sequence>
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</BehaviorTree>
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<BehaviorTree ID="MySub">
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<Sequence>
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<AlwaysSuccess name="action_subA"/>
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<AlwaysSuccess name="action_subB"/>
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</Sequence>
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</BehaviorTree>
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</root>
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)";
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// clang-format on
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int main(int argc, char** argv)
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{
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using namespace DummyNodes;
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BT::BehaviorTreeFactory factory;
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factory.registerNodeType<SaySomething>("SaySomething");
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// We use lambdasand registerSimpleAction, to create
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// a "dummy" node, that we want to create instead of a given one.
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// Simple node that just prints its name and return SUCCESS
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factory.registerSimpleAction("TestAction", [](BT::TreeNode& self){
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std::cout << "TestAction substituting: "<< self.name() << std::endl;
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return BT::NodeStatus::SUCCESS;
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});
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// Action that is meant to substitute SaySomething.
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// It will try to use the input port "message"
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factory.registerSimpleAction("TestSaySomething", [](BT::TreeNode& self){
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auto msg = self.getInput<std::string>("message");
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if (!msg)
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{
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throw BT::RuntimeError( "missing required input [message]: ", msg.error() );
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}
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std::cout << "TestSaySomething: " << msg.value() << std::endl;
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return BT::NodeStatus::SUCCESS;
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});
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// These configurations will be passed to a TestNode
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BT::TestNodeConfig test_config;
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// Convert the node in asynchronous and wait 2000 ms
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test_config.async_delay = std::chrono::milliseconds(2000);
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// Execute this postcondition, once completed
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test_config.post_script = "msg ='message SUBSTITUED'";
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//----------------------------
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// pass "no_sub" as first argument to avoid adding rules
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bool skip_substitution = (argc == 2) && std::string(argv[1]) == "no_sub";
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if(!skip_substitution)
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{
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// Substitute nodes which match this wildcard pattern with TestAction
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factory.addSubstitutionRule("mysub/action_*", "TestAction");
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// Substitute the node with name [talk] with TestSaySomething
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factory.addSubstitutionRule("talk", "TestSaySomething");
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// Substitute the node with name [last_action] with a TestNode,
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// configured using test_config
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factory.addSubstitutionRule("last_action", test_config);
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}
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factory.registerBehaviorTreeFromText(xml_text);
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// During the construction phase of the tree, the substitution
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// rules will be used to instantiate the test nodes, instead of the
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// original ones.
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auto tree = factory.createTree("MainTree");
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tree.tickWhileRunning();
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return 0;
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}

‎examples/t12_groot_howto.cpp

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#include "crossdoor_nodes.h"
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#include "behaviortree_cpp/bt_factory.h"
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#include "behaviortree_cpp/loggers/groot2_publisher.h"
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#include "behaviortree_cpp/xml_parsing.h"
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/** We are using the same example in Tutorial 5,
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* But this time we also show how to connect
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*/
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// clang-format off
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static const char* xml_text = R"(
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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<Sequence>
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<Fallback>
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<Inverter>
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<IsDoorClosed/>
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</Inverter>
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<SubTree ID="DoorClosed"/>
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</Fallback>
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<PassThroughDoor/>
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</Sequence>
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</BehaviorTree>
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<BehaviorTree ID="DoorClosed">
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<Fallback>
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<OpenDoor/>
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<RetryUntilSuccessful num_attempts="5">
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<PickLock/>
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</RetryUntilSuccessful>
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<SmashDoor/>
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</Fallback>
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</BehaviorTree>
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</root>
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)";
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// clang-format on
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int main()
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{
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BT::BehaviorTreeFactory factory;
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CrossDoor cross_door;
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cross_door.registerNodes(factory);
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// Groot2 editor requires a model of your registered Nodes.
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// You don't need to write that by hand, if can be automatically
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// generated using this command and imported.
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std::string xml_models = BT::writeTreeNodesModelXML(factory);
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std::cout << " ---------- XML file containing models ----------\n"
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<< xml_models
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<< "-------------------------------------------------\n";
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factory.registerBehaviorTreeFromText(xml_text);
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auto tree = factory.createTree("MainTree");
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// Connect the Groot2Publisher. This will allow Groot2 to
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// get the tree and poll status updates.
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BT::Groot2Publisher publisher(tree);
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while(1)
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{
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std::cout << "Start" << std::endl;
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cross_door.reset();
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tree.tickWhileRunning();
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std::this_thread::sleep_for(std::chrono::milliseconds(3000));
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}
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return 0;
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}

‎include/behaviortree_cpp/actions/test_node.h

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/* Copyright (C) 2022 Davide Faconti - All Rights Reserved
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*
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
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* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
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* and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
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* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include "behaviortree_cpp/action_node.h"
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#include "behaviortree_cpp/decorators/timer_queue.h"
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#include "behaviortree_cpp/scripting/script_parser.hpp"
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namespace BT
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{
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struct TestNodeConfig
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{
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/// status to return when the action is completed
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NodeStatus return_status = NodeStatus::SUCCESS;
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/// script to execute when actions is completed
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std::string post_script;
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/// if async_delay > 0, this action become asynchronous and wait this amount of time
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std::chrono::milliseconds async_delay = std::chrono::milliseconds(0);
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/// C++ callback to execute at the beginning
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std::function<void()> pre_func;
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/// C++ callback to execute at the end
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std::function<void()> post_func;
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};
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/**
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* @brief The TestNode is a Node that can be configure to:
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*
44+
* 1. Return a specific status (SUCCESS / FAILURE)
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* 2. Execute a post condition script (unless halted)
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* 3. Either complete immediately (synchronous action), or after a
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* given period of time (asynchronous action)
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*
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* This behavior is changed by the parameters pased with TestNodeConfig.
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*
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* This particular node is created by the factory when TestNodeConfig is
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* added as a substitution rule:
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*
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* TestNodeConfig test_config;
55+
* // change fields of test_config
56+
* factory.addSubstitutionRule(pattern, test_config);
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*
58+
* See tutorial 11 for more details.
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*/
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class TestNode : public BT::StatefulActionNode
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{
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public:
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TestNode(const std::string& name, const NodeConfig& config) :
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StatefulActionNode(name, config)
65+
{
66+
setRegistrationID("TestNode");
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}
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static PortsList providedPorts()
70+
{
71+
return {};
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}
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void setConfig(const TestNodeConfig& config);
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private:
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virtual NodeStatus onStart() override;
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virtual NodeStatus onRunning() override;
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virtual void onHalted() override;
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NodeStatus onCompleted();
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TestNodeConfig _test_config;
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ScriptFunction _executor;
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TimerQueue<> _timer;
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std::atomic_bool _completed;
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};
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} // namespace BT

‎include/behaviortree_cpp/basic_types.h

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SKIPPED = 4,
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};
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inline bool StatusActive(const NodeStatus& status)
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inline bool isStatusActive(const NodeStatus& status)
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{
4747
return status != NodeStatus::IDLE && status != NodeStatus::SKIPPED;
4848
}
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50-
inline bool StatusCompleted(const NodeStatus& status)
50+
inline bool isStatusCompleted(const NodeStatus& status)
5151
{
5252
return status == NodeStatus::SUCCESS || status == NodeStatus::FAILURE;
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}

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