user will be able to define PortsList for SimpleNodes (discussed in #44)

BehaviorTree · Jan 8, 2019 · 4787a4d · 4787a4d
1 parent c1e07de
commit 4787a4d
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Showing 6 changed files with 75 additions and 33 deletions.
diff --git a/examples/t03_sequence_star.cpp b/examples/t03_sequence_star.cpp
@@ -15,7 +15,7 @@ using namespace BT;
 
 // clang-format off
 
-const std::string xml_text_sequence = R"(
+static const char* xml_text_sequence = R"(
 
  <root main_tree_to_execute = "MainTree" >
 
@@ -25,14 +25,14 @@ const std::string xml_text_sequence = R"(
             <TemperatureOK />
             <SaySomething   message="mission started..." />
             <MoveBase goal="1;2;3"/>
-            <SaySomething   message="mission completed!" />
+            <SaySomething2  message="mission completed!" />
         </Sequence>
      </BehaviorTree>
 
  </root>
  )";
 
-const std::string xml_text_sequence_star = R"(
+static const char* xml_text_sequence_star = R"(
 
  <root main_tree_to_execute = "MainTree" >
 
@@ -42,7 +42,7 @@ const std::string xml_text_sequence_star = R"(
             <TemperatureOK />
             <SaySomething   message="mission started..." />
             <MoveBase goal="1;2;3"/>
-            <SaySomething   message="mission completed!" />
+            <SaySomething2  message="mission completed!" />
         </SequenceStar>
      </BehaviorTree>
 
@@ -67,6 +67,9 @@ int main()
     factory.registerNodeType<MoveBaseAction>("MoveBase");
     factory.registerNodeType<SaySomething>("SaySomething");
 
+    PortsList say_something_ports = {{"message", PortType::INPUT}};
+    factory.registerSimpleAction("SaySomething2", SaySomethingSimple, say_something_ports );
+
     // Compare the state transitions and messages using either
     // xml_text_sequence and xml_text_sequence_star
 

diff --git a/include/behaviortree_cpp/bt_factory.h b/include/behaviortree_cpp/bt_factory.h
@@ -51,19 +51,41 @@ class BehaviorTreeFactory
     bool unregisterBuilder(const std::string& ID);
 
     /// The most generic way to register your own builder.
-    void registerBuilder(const TreeNodeManifest& manifest, NodeBuilder builder);
+    void registerBuilder(const TreeNodeManifest& manifest, const NodeBuilder& builder);
 
-    /// Register a SimpleActionNode
+    /**
+    * @brief registerSimpleAction help you register nodes of type SimpleActionNode.
+    *
+    * @param ID            registration ID
+    * @param tick_functor  the callback to be invoked in the tick() method.
+    * @param ports         if your SimpleNode requires ports, provide the list here.
+    *
+    * */
     void registerSimpleAction(const std::string& ID,
-                              const SimpleActionNode::TickFunctor& tick_functor);
-
-    /// Register a SimpleConditionNode
+                              const SimpleActionNode::TickFunctor& tick_functor,
+                              PortsList ports = {});
+    /**
+    * @brief registerSimpleCondition help you register nodes of type SimpleConditionNode.
+    *
+    * @param ID            registration ID
+    * @param tick_functor  the callback to be invoked in the tick() method.
+    * @param ports         if your SimpleNode requires ports, provide the list here.
+    *
+    * */
     void registerSimpleCondition(const std::string& ID,
-                                 const SimpleConditionNode::TickFunctor& tick_functor);
-
-    /// Register a SimpleDecoratorNode
+                                 const SimpleConditionNode::TickFunctor& tick_functor,
+                                 PortsList ports = {});
+    /**
+    * @brief registerSimpleDecorator help you register nodes of type SimpleDecoratorNode.
+    *
+    * @param ID            registration ID
+    * @param tick_functor  the callback to be invoked in the tick() method.
+    * @param ports         if your SimpleNode requires ports, provide the list here.
+    *
+    * */
     void registerSimpleDecorator(const std::string& ID,
-                                 const SimpleDecoratorNode::TickFunctor& tick_functor);
+                                 const SimpleDecoratorNode::TickFunctor& tick_functor,
+                                 PortsList ports = {});
 
     /**
      * @brief registerFromPlugin load a shared library and execute the function BT_REGISTER_NODES (see macro).

diff --git a/sample_nodes/dummy_nodes.cpp b/sample_nodes/dummy_nodes.cpp
@@ -57,4 +57,16 @@ BT::NodeStatus SaySomething::tick()
     std::cout << "Robot says: " << msg << std::endl;
     return BT::NodeStatus::SUCCESS;
 }
+
+BT::NodeStatus SaySomethingSimple(BT::TreeNode &self)
+{
+    std::string msg;
+    if (!self.getInput("message", msg))
+    {
+        throw BT::RuntimeError("missing required input [message]");
+    }
+    std::cout << "Robot says: " << msg << std::endl;
+    return BT::NodeStatus::SUCCESS;
+}
+
 }
diff --git a/sample_nodes/dummy_nodes.h b/sample_nodes/dummy_nodes.h
@@ -64,6 +64,10 @@ class SaySomething : public BT::SyncActionNode
     }
 };
 
+//Same as class SaySomething, but to be registered with SimpleActionNode
+BT::NodeStatus SaySomethingSimple(BT::TreeNode& self);
+
+
 inline void RegisterNodes(BT::BehaviorTreeFactory& factory)
 {
     static GripperInterface gi;

diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
@@ -63,7 +63,7 @@ bool BehaviorTreeFactory::unregisterBuilder(const std::string& ID)
     return true;
 }
 
-void BehaviorTreeFactory::registerBuilder(const TreeNodeManifest& manifest, NodeBuilder builder)
+void BehaviorTreeFactory::registerBuilder(const TreeNodeManifest& manifest, const NodeBuilder& builder)
 {
     auto it = builders_.find( manifest.registration_ID);
     if (it != builders_.end())
@@ -75,36 +75,39 @@ void BehaviorTreeFactory::registerBuilder(const TreeNodeManifest& manifest, Node
     manifests_.insert( {manifest.registration_ID, manifest} );
 }
 
-void BehaviorTreeFactory::registerSimpleCondition(
-    const std::string& ID, const SimpleConditionNode::TickFunctor& tick_functor)
+void BehaviorTreeFactory::registerSimpleCondition(const std::string& ID,
+                                                  const SimpleConditionNode::TickFunctor& tick_functor,
+                                                  PortsList ports)
 {
     NodeBuilder builder = [tick_functor, ID](const std::string& name, const NodeConfiguration& config) {
         return std::unique_ptr<TreeNode>(new SimpleConditionNode(name, tick_functor, config));
     };
 
-    TreeNodeManifest manifest = { NodeType::CONDITION, ID, {} };
+    TreeNodeManifest manifest = { NodeType::CONDITION, ID, std::move(ports) };
     registerBuilder(manifest, builder);
 }
 
 void BehaviorTreeFactory::registerSimpleAction(const std::string& ID,
-                                               const SimpleActionNode::TickFunctor& tick_functor)
+                                               const SimpleActionNode::TickFunctor& tick_functor,
+                                               PortsList ports)
 {
     NodeBuilder builder = [tick_functor, ID](const std::string& name, const NodeConfiguration& config) {
         return std::unique_ptr<TreeNode>(new SimpleActionNode(name, tick_functor, config));
     };
 
-    TreeNodeManifest manifest = { NodeType::ACTION, ID, {} };
+    TreeNodeManifest manifest = { NodeType::ACTION, ID, std::move(ports) };
     registerBuilder(manifest, builder);
 }
 
-void BehaviorTreeFactory::registerSimpleDecorator(
-    const std::string& ID, const SimpleDecoratorNode::TickFunctor& tick_functor)
+void BehaviorTreeFactory::registerSimpleDecorator(const std::string& ID,
+                                                  const SimpleDecoratorNode::TickFunctor& tick_functor,
+                                                  PortsList ports)
 {
     NodeBuilder builder = [tick_functor, ID](const std::string& name, const NodeConfiguration& config) {
         return std::unique_ptr<TreeNode>(new SimpleDecoratorNode(name, tick_functor, config));
     };
 
-    TreeNodeManifest manifest = { NodeType::DECORATOR, ID, {} };
+    TreeNodeManifest manifest = { NodeType::DECORATOR, ID, std::move(ports) };
     registerBuilder(manifest, builder);
 }
 

diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
@@ -417,20 +417,18 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement *element,
         for(const auto& remap_it: remapping_parameters)
         {
             const auto& port_name = remap_it.first;
-            auto port_type = PortType::INOUT; // default if missing from manifest
-
             auto port_it = manifest.ports.find( port_name );
             if( port_it != manifest.ports.end() )
             {
-                port_type = port_it->second;
-            }
-            if( port_type != PortType::OUTPUT )
-            {
-                config.input_ports.insert( remap_it );
-            }
-            if( port_type != PortType::INPUT )
-            {
-                config.output_ports.insert( remap_it );
+                auto port_type = port_it->second;
+                if( port_type != PortType::OUTPUT )
+                {
+                    config.input_ports.insert( remap_it );
+                }
+                if( port_type != PortType::INPUT )
+                {
+                    config.output_ports.insert( remap_it );
+                }
             }
         }
         child_node = factory.instantiateTreeNode(instance_name, ID, config);