PickNikRobotics
diff --git a/‎.gitignore
Lines changed: 1 addition & 0 deletions b/‎.gitignore
Lines changed: 1 addition & 0 deletions
diff --git a/‎CMakeLists.txt
Lines changed: 17 additions & 0 deletions b/‎CMakeLists.txt
Lines changed: 17 additions & 0 deletions
diff --git a/‎btpy/__init__.py
Lines changed: 89 additions & 0 deletions b/‎btpy/__init__.py
Lines changed: 89 additions & 0 deletions
diff --git a/‎conanfile.txt
Lines changed: 1 addition & 0 deletions b/‎conanfile.txt
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diff --git a/‎include/behaviortree_cpp/contrib/pybind11_json.hpp
Lines changed: 226 additions & 0 deletions b/‎include/behaviortree_cpp/contrib/pybind11_json.hpp
Lines changed: 226 additions & 0 deletions
diff --git a/‎include/behaviortree_cpp/json_export.h
Lines changed: 6 additions & 2 deletions b/‎include/behaviortree_cpp/json_export.h
Lines changed: 6 additions & 2 deletions
@@ -4,6 +4,7 @@ build*
 site/*
 /.vscode/
 .vs/
+__pycache__
 
 # clangd cache
 /.cache/*
 
@@ -33,6 +33,7 @@ option(BTCPP_EXAMPLES   "Build tutorials and examples" ON)
 option(BTCPP_UNIT_TESTS "Build the unit tests" ON)
 option(BTCPP_GROOT_INTERFACE "Add Groot2 connection. Requires ZeroMQ" ON)
 option(BTCPP_SQLITE_LOGGING "Add SQLite logging." ON)
+option(BTCPP_PYTHON "Add Python bindings" ON)
 
 option(USE_V3_COMPATIBLE_NAMES  "Use some alias to compile more easily old 3.x code" OFF)
 
@@ -142,6 +143,10 @@ if(BTCPP_SQLITE_LOGGING)
     list(APPEND BT_SOURCE  src/loggers/bt_sqlite_logger.cpp )
 endif()
 
+if(BTCPP_PYTHON)
+    list(APPEND BT_SOURCE  src/python/types.cpp)
+endif()
+
 ######################################################
 
 if (UNIX)
@@ -173,6 +178,18 @@ target_link_libraries(${BTCPP_LIBRARY}
         ${BTCPP_EXTRA_LIBRARIES}
 )
 
+if(BTCPP_PYTHON)
+    find_package(Python COMPONENTS Interpreter Development)
+    find_package(pybind11 CONFIG)
+
+    pybind11_add_module(btpy_cpp src/python/bindings.cpp)
+    target_compile_options(btpy_cpp PRIVATE -Wno-gnu-zero-variadic-macro-arguments)
+    target_link_libraries(btpy_cpp PRIVATE ${BTCPP_LIBRARY})
+
+    target_link_libraries(${BTCPP_LIBRARY} PUBLIC Python::Python pybind11::pybind11)
+    target_compile_definitions(${BTCPP_LIBRARY} PUBLIC BTCPP_PYTHON)
+endif()
+
 target_include_directories(${BTCPP_LIBRARY}
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
 
@@ -0,0 +1,89 @@
+#!/usr/bin/env python3
+
+"""
+Top-level module of the BehaviorTree.CPP Python bindings.
+"""
+
+# re-export
+from btpy_cpp import (
+    BehaviorTreeFactory,
+    NodeStatus,
+    StatefulActionNode,
+    SyncActionNode,
+    Tree,
+)
+
+
+def ports(inputs: list[str] = [], outputs: list[str] = []):
+    """Decorator to specify input and outputs ports for an action node."""
+
+    def specify_ports(cls):
+        cls.input_ports = list(inputs)
+        cls.output_ports = list(outputs)
+        return cls
+
+    return specify_ports
+
+
+class AsyncActionNode(StatefulActionNode):
+    """An abstract action node implemented via cooperative multitasking.
+
+    Subclasses must implement the `run()` method as a generator.  Optionally,
+    this method can return a final `NodeStatus` value to indicate its exit
+    condition.
+
+    Optionally, subclasses can override the `on_halted()` method which is called
+    when the tree halts. The default implementation does nothing. The `run()`
+    method will never be called again after a halt.
+
+    Note:
+        It is the responsibility of the action author to not block the main
+        behavior tree loop with long-running tasks. `yield` calls should be
+        placed whenever a pause is appropriate.
+    """
+
+    def __init__(self, name, config):
+        super().__init__(name, config)
+
+    def on_start(self) -> NodeStatus:
+        self.coroutine = self.run()
+        return NodeStatus.RUNNING
+
+    def on_running(self) -> NodeStatus:
+        # The library logic should never allow this to happen, but users can
+        # still manually call `on_running` without an associated `on_start`
+        # call. Make sure to print a useful error when this happens.
+        if self.coroutine is None:
+            raise "AsyncActionNode run without starting"
+
+        # Resume the coroutine (generator). As long as the generator is not
+        # exhausted, keep this action in the RUNNING state.
+        try:
+            next(self.coroutine)
+            return NodeStatus.RUNNING
+        except StopIteration as e:
+            # If the action returns a status then propagate it upwards.
+            if e.value is not None:
+                return e.value
+            # Otherwise, just assume the action finished successfully.
+            else:
+                return NodeStatus.SUCCESS
+
+    def on_halted(self):
+        # Default action: do nothing
+        pass
+
+
+# Specify the symbols to be imported with `from btpy import *`, as described in
+# [1].
+#
+# [1]: https://docs.python.org/3/tutorial/modules.html#importing-from-a-package
+__all__ = [
+    "ports",
+    "AsyncActionNode",
+    "BehaviorTreeFactory",
+    "NodeStatus",
+    "StatefulActionNode",
+    "SyncActionNode",
+    "Tree",
+]
@@ -2,6 +2,7 @@
 gtest/1.14.0
 zeromq/4.3.4
 sqlite3/3.40.1
+pybind11/2.10.4
 
 [generators]
 CMakeDeps
 
@@ -0,0 +1,226 @@
+/***************************************************************************
+* Copyright (c) 2019, Martin Renou                                         *
+*                                                                          *
+* Distributed under the terms of the BSD 3-Clause License.                 *
+*                                                                          *
+* The full license is in the file LICENSE, distributed with this software. *
+****************************************************************************/
+
+#ifndef PYBIND11_JSON_HPP
+#define PYBIND11_JSON_HPP
+
+#include <string>
+#include <vector>
+
+#include "behaviortree_cpp/contrib/json.hpp"
+
+#include "pybind11/pybind11.h"
+
+namespace pyjson
+{
+    namespace py = pybind11;
+    namespace nl = nlohmann;
+
+    inline py::object from_json(const nl::json& j)
+    {
+        if (j.is_null())
+        {
+            return py::none();
+        }
+        else if (j.is_boolean())
+        {
+            return py::bool_(j.get<bool>());
+        }
+        else if (j.is_number_unsigned())
+        {
+            return py::int_(j.get<nl::json::number_unsigned_t>());
+        }
+        else if (j.is_number_integer())
+        {
+            return py::int_(j.get<nl::json::number_integer_t>());
+        }
+        else if (j.is_number_float())
+        {
+            return py::float_(j.get<double>());
+        }
+        else if (j.is_string())
+        {
+            return py::str(j.get<std::string>());
+        }
+        else if (j.is_array())
+        {
+            py::list obj(j.size());
+            for (std::size_t i = 0; i < j.size(); i++)
+            {
+                obj[i] = from_json(j[i]);
+            }
+            return obj;
+        }
+        else // Object
+        {
+            py::dict obj;
+            for (nl::json::const_iterator it = j.cbegin(); it != j.cend(); ++it)
+            {
+                obj[py::str(it.key())] = from_json(it.value());
+            }
+            return obj;
+        }
+    }
+
+    inline nl::json to_json(const py::handle& obj)
+    {
+        if (obj.ptr() == nullptr || obj.is_none())
+        {
+            return nullptr;
+        }
+        if (py::isinstance<py::bool_>(obj))
+        {
+            return obj.cast<bool>();
+        }
+        if (py::isinstance<py::int_>(obj))
+        {
+            try
+            {
+                nl::json::number_integer_t s = obj.cast<nl::json::number_integer_t>();
+                if (py::int_(s).equal(obj))
+                {
+                    return s;
+                }
+            }
+            catch (...)
+            {
+            }
+            try
+            {
+                nl::json::number_unsigned_t u = obj.cast<nl::json::number_unsigned_t>();
+                if (py::int_(u).equal(obj))
+                {
+                    return u;
+                }
+            }
+            catch (...)
+            {
+            }
+            throw std::runtime_error("to_json received an integer out of range for both nl::json::number_integer_t and nl::json::number_unsigned_t type: " + py::repr(obj).cast<std::string>());
+        }
+        if (py::isinstance<py::float_>(obj))
+        {
+            return obj.cast<double>();
+        }
+        if (py::isinstance<py::bytes>(obj))
+        {
+            py::module base64 = py::module::import("base64");
+            return base64.attr("b64encode")(obj).attr("decode")("utf-8").cast<std::string>();
+        }
+        if (py::isinstance<py::str>(obj))
+        {
+            return obj.cast<std::string>();
+        }
+        if (py::isinstance<py::tuple>(obj) || py::isinstance<py::list>(obj))
+        {
+            auto out = nl::json::array();
+            for (const py::handle value : obj)
+            {
+                out.push_back(to_json(value));
+            }
+            return out;
+        }
+        if (py::isinstance<py::dict>(obj))
+        {
+            auto out = nl::json::object();
+            for (const py::handle key : obj)
+            {
+                out[py::str(key).cast<std::string>()] = to_json(obj[key]);
+            }
+            return out;
+        }
+        throw std::runtime_error("to_json not implemented for this type of object: " + py::repr(obj).cast<std::string>());
+    }
+}
+
+// nlohmann_json serializers
+namespace nlohmann
+{
+    namespace py = pybind11;
+
+    #define MAKE_NLJSON_SERIALIZER_DESERIALIZER(T)         \
+    template <>                                            \
+    struct adl_serializer<T>                               \
+    {                                                      \
+        inline static void to_json(json& j, const T& obj)  \
+        {                                                  \
+            j = pyjson::to_json(obj);                      \
+        }                                                  \
+                                                           \
+        inline static T from_json(const json& j)           \
+        {                                                  \
+            return pyjson::from_json(j);                   \
+        }                                                  \
+    }
+
+    #define MAKE_NLJSON_SERIALIZER_ONLY(T)                 \
+    template <>                                            \
+    struct adl_serializer<T>                               \
+    {                                                      \
+        inline static void to_json(json& j, const T& obj)  \
+        {                                                  \
+            j = pyjson::to_json(obj);                      \
+        }                                                  \
+    }
+
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::object);
+
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::bool_);
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::int_);
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::float_);
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::str);
+
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::list);
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::tuple);
+    MAKE_NLJSON_SERIALIZER_DESERIALIZER(py::dict);
+
+    MAKE_NLJSON_SERIALIZER_ONLY(py::handle);
+    MAKE_NLJSON_SERIALIZER_ONLY(py::detail::item_accessor);
+    MAKE_NLJSON_SERIALIZER_ONLY(py::detail::list_accessor);
+    MAKE_NLJSON_SERIALIZER_ONLY(py::detail::tuple_accessor);
+    MAKE_NLJSON_SERIALIZER_ONLY(py::detail::sequence_accessor);
+    MAKE_NLJSON_SERIALIZER_ONLY(py::detail::str_attr_accessor);
+    MAKE_NLJSON_SERIALIZER_ONLY(py::detail::obj_attr_accessor);
+
+    #undef MAKE_NLJSON_SERIALIZER
+    #undef MAKE_NLJSON_SERIALIZER_ONLY
+}
+
+// pybind11 caster
+namespace pybind11
+{
+    namespace detail
+    {
+        template <> struct type_caster<nlohmann::json>
+        {
+        public:
+            PYBIND11_TYPE_CASTER(nlohmann::json, _("json"));
+
+            bool load(handle src, bool)
+            {
+                try
+                {
+                    value = pyjson::to_json(src);
+                    return true;
+                }
+                catch (...)
+                {
+                    return false;
+                }
+            }
+
+            static handle cast(nlohmann::json src, return_value_policy /* policy */, handle /* parent */)
+            {
+                object obj = pyjson::from_json(src);
+                return obj.release();
+            }
+        };
+    }
+}
+
+#endif
@@ -1,6 +1,5 @@
 #pragma once
 
-#include "behaviortree_cpp/basic_types.h"
 #include "behaviortree_cpp/utils/safe_any.hpp"
 #include "behaviortree_cpp/basic_types.h"
 
@@ -45,7 +44,6 @@ namespace BT
 /**
 *  Use RegisterJsonDefinition<Foo>();
 */
-
 class JsonExporter
 {
 public:
@@ -80,6 +78,12 @@ class JsonExporter
   template <typename T>
   Expected<T> fromJson(const nlohmann::json& source) const;
 
+  template <typename T>
+  void fromJsonHelper(const nlohmann::json& src, T& dst) const
+  {
+    dst = *fromJson<T>(src);
+  }
+
   /// Register new JSON converters with addConverter<Foo>().
   /// You should have used first the macro BT_JSON_CONVERTER
   template <typename T>