btcpp_sample/main.cpp at main · BehaviorTree/btcpp_sample · GitHub

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#include"behaviortree_cpp/bt_factory.h"

usingnamespaceBT;

// clang-format off
staticconstchar* xml_text = R"(

 <root BTCPP_format="4" >

 <BehaviorTree ID="MainTree">
 <Sequence name="root">
 <AlwaysSuccess/>
 <SaySomething message="this works too" />
 <ThinkWhatToSay text="{the_answer}"/>
 <SaySomething message="{the_answer}" />
 </Sequence>
 </BehaviorTree>

 </root>
)";
// clang-format on

classSaySomething : publicBT::SyncActionNode
{
public:
SaySomething(const std::string& name, constBT::NodeConfig& config) :
BT::SyncActionNode(name, config)
 {}

BT::NodeStatus tick() override
 {
 std::string msg;
getInput("message", msg);
 std::cout << msg << std::endl;
returnBT::NodeStatus::SUCCESS;
 }

staticBT::PortsList providedPorts()
 {
return {BT::InputPort<std::string>("message")};
 }
};

classThinkWhatToSay : publicBT::SyncActionNode
{
public:
ThinkWhatToSay(const std::string& name, constBT::NodeConfig& config) :
BT::SyncActionNode(name, config)
 {}

BT::NodeStatus tick() override
 {
setOutput("text", "The answer is 42");
returnBT::NodeStatus::SUCCESS;
 }

staticBT::PortsList providedPorts()
 {
return {BT::OutputPort<std::string>("text")};
 }
};

intmain()
{

 BehaviorTreeFactory factory;

 factory.registerNodeType<SaySomething>("SaySomething");
 factory.registerNodeType<ThinkWhatToSay>("ThinkWhatToSay");

auto tree = factory.createTreeFromText(xml_text);

 tree.tickWhileRunning();

return0;
}