example.cpp

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#include <iostream>
#include <behavior_tree.h>

class MyCondition : public BT::ConditionNode
{
public:
  MyCondition(const std::string& name);
  ~MyCondition();
  BT::ReturnStatus Tick();
};

MyCondition::MyCondition(const std::string& name) : BT::ConditionNode::ConditionNode(name)
{}

BT::ReturnStatus MyCondition::Tick()
{
  std::cout << "The Condition is true" << std::endl;

  return NodeStatus::SUCCESS;
}

class MyAction : public BT::ActionNode
{
public:
  MyAction(const std::string& name);
  ~MyAction();
  BT::ReturnStatus Tick();
  void Halt();
};

MyAction::MyAction(const std::string& name) : ActionNode::ActionNode(name)
{}

BT::ReturnStatus MyAction::Tick()
{
  std::cout << "The Action is doing some operations" << std::endl;
  std::this_thread::sleep_for(std::chrono::milliseconds(500));
  if (is_halted())
  {
    return NodeStatus::IDLE;
  }

  std::cout << "The Action is doing some others operations" << std::endl;
  std::this_thread::sleep_for(std::chrono::milliseconds(500));
  if (is_halted())
  {
    return NodeStatus::IDLE;
  }

  std::cout << "The Action is doing more operations" << std::endl;
  std::this_thread::sleep_for(std::chrono::milliseconds(500));
  if (is_halted())
  {
    return NodeStatus::IDLE;
  }

  std::cout << "The Action has succeeded" << std::endl;
  return NodeStatus::SUCCESS;
}

void MyAction::Halt()
{}

int main(int argc, char* argv[])
{
  BT::SequenceNode* seq = new BT::SequenceNode("Sequence");
  MyCondition* my_con_1 = new MyCondition("Condition");
  MyAction* my_act_1 = new MyAction("Action");
  int tick_time_milliseconds = 1000;

  seq->AddChild(my_con_1);
  seq->AddChild(my_act_1);

  Execute(seq, tick_time_milliseconds);

  return 0;
}