renamed examples to match website

Author: facontidavide

examples/CMakeLists.txt

@@ -26,29 +26,33 @@ CompileExample("t07_load_multiple_xml")
 CompileExample("t08_additional_node_args")
 CompileExample("t09_scripting")
 CompileExample("t10_observer")
-CompileExample("t11_replace_rules")
 
 if(BTCPP_GROOT_INTERFACE AND BTCPP_SQLITE_LOGGING)
-CompileExample("t12_groot_howto")
-CompileExample("generate_log")
+CompileExample("t11_groot_howto")
 endif()
 
+CompileExample("t12_default_ports")
+CompileExample("t13_access_by_ref")
+CompileExample("t14_subtree_model")
+CompileExample("t15_nodes_mocking")
+CompileExample("t16_sqlite_log")
+CompileExample("t17_blackboard_backup")
+CompileExample("t18_waypoints")
+
 CompileExample("ex01_wrap_legacy")
 CompileExample("ex02_runtime_ports")
-CompileExample("ex04_waypoints")
-CompileExample("ex05_subtree_model")
-CompileExample("ex06_access_by_ptr")
-CompileExample("ex07_blackboard_backup")
-CompileExample("ex08_sqlite_log")
 
-CompileExample("t13_plugin_executor")
 
-############ Create plugin for tutorial 13 ##########
+############ Create plugin and executor in folder plugin_example ##########
+
 # library must be SHARED
-add_library(t13_plugin_action SHARED t13_plugin_action.cpp )
+add_library(test_plugin_action SHARED plugin_example/plugin_action.cpp )
 # you must set the definition BT_PLUGIN_EXPORT
-target_compile_definitions(t13_plugin_action PRIVATE  BT_PLUGIN_EXPORT )
-# remove the "lib" prefix. Name of the file will be t13_plugin_action.so
-set_target_properties(t13_plugin_action PROPERTIES PREFIX "")
+target_compile_definitions(test_plugin_action PRIVATE  BT_PLUGIN_EXPORT )
+# remove the "lib" prefix. Name of the file will be test_plugin_action.so
+set_target_properties(test_plugin_action PROPERTIES PREFIX "")
 # link dependencies as usual
-target_link_libraries(t13_plugin_action ${BTCPP_LIBRARY} )
+target_link_libraries(test_plugin_action ${BTCPP_LIBRARY} )
+
+add_executable(test_plugin_executor  plugin_example/plugin_executor.cpp )
+target_link_libraries(test_plugin_executor ${BTCPP_LIBRARY})

examples/broken_sequence.cpp

@@ -1,4 +1,4 @@
-#include "t13_custom_type.hpp"
+#include "custom_type.hpp"
 #include "behaviortree_cpp/bt_factory.h"
 
 class PrintVector : public BT::SyncActionNode

examples/generate_log.cpp

@@ -25,7 +25,7 @@ int main(int argc, char** argv)
   using namespace BT;
   BehaviorTreeFactory factory;
 
-  std::string plugin_path = "t13_plugin_action.so";
+  std::string plugin_path = "test_plugin_action.so";
 
   // if you don't want to use the hardcoded path, pass it as an argument
   if(argc == 2)

examples/t13_custom_type.hpp renamed to examples/plugin_example/custom_type.hpp

@@ -0,0 +1,130 @@
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/json_export.h"
+
+/**
+ * The goal of this tutorial is to show all the possible ways
+ * that we can define the default value of a port, i.e. the
+ * value that it should have if not specified in the XML
+ * */
+
+// Custom type. to make things more interesting
+struct Point2D
+{
+  int x = 0;
+  int y = 0;
+  bool operator==(const Point2D& p) const
+  {
+    return x == p.x && y == p.y;
+  }
+  bool operator!=(const Point2D& p) const
+  {
+    return !(*this == p);
+  }
+};
+
+// Allow bi-directional convertion to JSON
+BT_JSON_CONVERTER(Point2D, point)
+{
+  add_field("x", &point.x);
+  add_field("y", &point.y);
+}
+
+// We can extend the traditional BT::convertFromString<Point2D>()
+// to support the JSON format too (see port with name "pointE")
+template <>
+[[nodiscard]] Point2D BT::convertFromString<Point2D>(StringView str)
+{
+  if(StartWith(str, "json:"))
+  {
+    str.remove_prefix(5);
+    return convertFromJSON<Point2D>(str);
+  }
+  const auto parts = BT::splitString(str, ',');
+  if(parts.size() != 2)
+  {
+    throw BT::RuntimeError("invalid input)");
+  }
+  int x = convertFromString<int>(parts[0]);
+  int y = convertFromString<int>(parts[1]);
+  return { x, y };
+}
+
+//-----------------------------------------------
+using namespace BT;
+
+class NodeWithDefaultPoints : public SyncActionNode
+{
+public:
+  NodeWithDefaultPoints(const std::string& name, const NodeConfig& config)
+    : SyncActionNode(name, config)
+  {}
+
+  NodeStatus tick() override
+  {
+    // Let0s check if all the portas have the expected value
+    Point2D pointA, pointB, pointC, pointD, pointE, input;
+
+    if(!getInput("pointA", pointA) || pointA != Point2D{ 1, 2 })
+    {
+      throw std::runtime_error("failed pointA");
+    }
+    if(!getInput("pointB", pointB) || pointB != Point2D{ 3, 4 })
+    {
+      throw std::runtime_error("failed pointB");
+    }
+    if(!getInput("pointC", pointC) || pointC != Point2D{ 5, 6 })
+    {
+      throw std::runtime_error("failed pointC");
+    }
+    if(!getInput("pointD", pointD) || pointD != Point2D{ 7, 8 })
+    {
+      throw std::runtime_error("failed pointD");
+    }
+    if(!getInput("pointE", pointE) || pointE != Point2D{ 9, 10 })
+    {
+      throw std::runtime_error("failed pointE");
+    }
+    if(!getInput("input", input) || input != Point2D{ -1, -2 })
+    {
+      throw std::runtime_error("failed input");
+    }
+    return NodeStatus::SUCCESS;
+  }
+
+  static PortsList providedPorts()
+  {
+    return { BT::InputPort<Point2D>("input", "no default value"),
+             BT::InputPort<Point2D>("pointA", Point2D{ 1, 2 }, "default value is [1,2]"),
+             BT::InputPort<Point2D>("pointB", "{point}",
+                                    "default value inside blackboard {point}"),
+             BT::InputPort<Point2D>("pointC", "5,6", "default value is [5,6]"),
+             BT::InputPort<Point2D>("pointD", "{=}",
+                                    "default value inside blackboard {pointD}"),
+             BT::InputPort<Point2D>("pointE", R"(json:{"x":9,"y":10})",
+                                    "default value is [9,10]") };
+  }
+};
+
+int main()
+{
+  std::string xml_txt = R"(
+    <root BTCPP_format="4" >
+      <BehaviorTree>
+        <NodeWithDefaultPoints input="-1,-2"/>
+      </BehaviorTree>
+    </root>)";
+
+  JsonExporter::get().addConverter<Point2D>();
+
+  BehaviorTreeFactory factory;
+  factory.registerNodeType<NodeWithDefaultPoints>("NodeWithDefaultPoints");
+  auto tree = factory.createTreeFromText(xml_txt);
+
+  tree.subtrees.front()->blackboard->set<Point2D>("point", Point2D{ 3, 4 });
+  tree.subtrees.front()->blackboard->set<Point2D>("pointD", Point2D{ 7, 8 });
+
+  BT::NodeStatus status = tree.tickOnce();
+  std::cout << "Result: " << toStr(status) << std::endl;
+
+  return 0;
+}