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

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#include "behaviortree_cpp/bt_factory.h"

using namespace BT;

// clang-format off

static const char* xml_text = R"(

</Sequence>

</BehaviorTree>

</root>

)";

// clang-format on

class SaySomething : public BT::SyncActionNode

{

public:

SaySomething(const std::string& name, const BT::NodeConfig& config) :

BT::SyncActionNode(name, config)

{}

BT::NodeStatus tick() override

{

std::string msg;

getInput("message", msg);

std::cout << msg << std::endl;

return BT::NodeStatus::SUCCESS;

}

static BT::PortsList providedPorts()

{

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

}

};

class ThinkWhatToSay : public BT::SyncActionNode

{

public:

ThinkWhatToSay(const std::string& name, const BT::NodeConfig& config) :

BT::SyncActionNode(name, config)

{}

BT::NodeStatus tick() override

{

setOutput("text", "The answer is 42");

return BT::NodeStatus::SUCCESS;

}

static BT::PortsList providedPorts()

{

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

}

};

int main()

{

BehaviorTreeFactory factory;

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

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

auto tree = factory.createTreeFromText(xml_text);

tree.tickWhileRunning();

return 0;

}

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

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