add script condition

Author: facontidavide

include/behaviortree_cpp/actions/script_condition.h

@@ -0,0 +1,78 @@
+/*  Copyright (C) 2023 Davide Faconti -  All Rights Reserved
+ *
+*
+*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
+*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+*   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:
+*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+*
+*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+*   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,
+*   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.
+*/
+
+#pragma once
+
+#include "behaviortree_cpp/condition_node.h"
+#include "behaviortree_cpp/scripting/script_parser.hpp"
+
+namespace BT
+{
+/**
+ * @brief Execute a script, and if the result is true, return
+ * SUCCESS, FAILURE otherwise.
+ */
+class ScriptCondition : public ConditionNode
+{
+public:
+  ScriptCondition(const std::string& name, const NodeConfig& config) :
+    ConditionNode(name, config)
+  {
+    setRegistrationID("ScriptCondition");
+    loadExecutor();
+  }
+
+  static PortsList providedPorts()
+  {
+    return {InputPort("code", "Piece of code that can be parsed. Must return false or true")};
+  }
+
+private:
+  virtual BT::NodeStatus tick() override
+  {
+    loadExecutor();
+
+    Ast::Environment env = {config().blackboard, config().enums};
+    auto result = _executor(env);
+    return (result.cast<bool>()) ?
+        NodeStatus::SUCCESS : NodeStatus::FAILURE;
+  }
+
+  void loadExecutor()
+  {
+    std::string script;
+    if (!getInput("code", script))
+    {
+      throw RuntimeError("Missing port [code] in ScriptCondition");
+    }
+    if (script == _script)
+    {
+      return;
+    }
+    auto executor = ParseScript(script);
+    if (!executor)
+    {
+      throw RuntimeError(executor.error());
+    }
+    else
+    {
+      _executor = executor.value();
+      _script = script;
+    }
+  }
+
+  std::string _script;
+  ScriptFunction _executor;
+};
+
+}   // namespace BT

include/behaviortree_cpp/actions/script_node.h

@@ -51,7 +51,7 @@ class ScriptNode : public SyncActionNode
     std::string script;
     if (!getInput("code", script))
     {
-      throw RuntimeError("Missing parameter [script] in Script");
+      throw RuntimeError("Missing port [code] in Script");
     }
     if (script == _script)
     {

include/behaviortree_cpp/behavior_tree.h

@@ -35,6 +35,7 @@
 
 #include "behaviortree_cpp/actions/always_success_node.h"
 #include "behaviortree_cpp/actions/always_failure_node.h"
+#include "behaviortree_cpp/actions/script_condition.h"
 #include "behaviortree_cpp/actions/script_node.h"
 #include "behaviortree_cpp/actions/set_blackboard_node.h"
 #include "behaviortree_cpp/actions/test_node.h"

src/bt_factory.cpp

@@ -76,6 +76,7 @@ BehaviorTreeFactory::BehaviorTreeFactory():
   registerNodeType<AlwaysSuccessNode>("AlwaysSuccess");
   registerNodeType<AlwaysFailureNode>("AlwaysFailure");
   registerNodeType<ScriptNode>("Script");
+  registerNodeType<ScriptCondition>("ScriptCondition");
   registerNodeType<SetBlackboard>("SetBlackboard");
   registerNodeType<SleepNode>("Sleep");