bt_factory.h

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/* Copyright (C) 2018 Michele Colledanchise -  All Rights Reserved
 * Copyright (C) 2018-2023 Davide Faconti - All Rights Reserved
*
*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
*   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
 
#ifndef BT_FACTORY_H
#define BT_FACTORY_H
 
#include <filesystem>
#include <functional>
#include <memory>
#include <unordered_map>
#include <set>
#include <vector>
 
#include "behaviortree_cpp/contrib/magic_enum.hpp"
#include "behaviortree_cpp/behavior_tree.h"
 
namespace BT
{
using NodeBuilder =
    std::function<std::unique_ptr<TreeNode>(const std::string&, const NodeConfig&)>;
 
template <typename T, typename... Args>
inline NodeBuilder CreateBuilder(Args... args)
{
  return [=](const std::string& name, const NodeConfig& config) {
    return TreeNode::Instantiate<T, Args...>(name, config, args...);
  };
}
 
template <typename T>
inline TreeNodeManifest CreateManifest(const std::string& ID,
                                       PortsList portlist = getProvidedPorts<T>())
{
  if constexpr(has_static_method_metadata<T>::value)
  {
    return { getType<T>(), ID, portlist, T::metadata() };
  }
  return { getType<T>(), ID, portlist, {} };
}
 
#ifdef BT_PLUGIN_EXPORT
 
#if defined(_WIN32)
#define BTCPP_EXPORT extern "C" __declspec(dllexport)
#else
// Unix-like OSes
#define BTCPP_EXPORT extern "C" __attribute__((visibility("default")))
#endif
 
#else
#define BTCPP_EXPORT static
#endif
/* Use this macro to automatically register one or more custom Nodes
* into a factory. For instance:
*
*   BT_REGISTER_NODES(factory)
*   {
*     factory.registerNodeType<MoveBaseAction>("MoveBase");
*   }
*
* IMPORTANT: this function MUST be declared in a cpp file, NOT a header file.
* You must add the definition [BT_PLUGIN_EXPORT] in CMakeLists.txt using:
*
*   target_compile_definitions(my_plugin_target PRIVATE  BT_PLUGIN_EXPORT )
 
* See examples in sample_nodes directory.
*/
 
#define BT_REGISTER_NODES(factory)                                                       \
  BTCPP_EXPORT void BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
 
constexpr const char* PLUGIN_SYMBOL = "BT_RegisterNodesFromPlugin";
 
bool WildcardMatch(const std::string& str, StringView filter);
 
class Tree
{
public:
  // a tree can contain multiple subtree.
  struct Subtree
  {
    using Ptr = std::shared_ptr<Subtree>;
    std::vector<TreeNode::Ptr> nodes;
    Blackboard::Ptr blackboard;
    std::string instance_name;
    std::string tree_ID;
  };
 
  std::vector<Subtree::Ptr> subtrees;
  std::unordered_map<std::string, TreeNodeManifest> manifests;
 
  Tree();
 
  Tree(const Tree&) = delete;
  Tree& operator=(const Tree&) = delete;
 
  Tree(Tree&& other);
  Tree& operator=(Tree&& other);
 
  void initialize();
 
  void haltTree();
 
  [[nodiscard]] TreeNode* rootNode() const;
 
  bool sleep(std::chrono::system_clock::duration timeout);
 
  ~Tree();
 
  NodeStatus tickExactlyOnce();
 
  NodeStatus tickOnce();
 
  NodeStatus
  tickWhileRunning(std::chrono::milliseconds sleep_time = std::chrono::milliseconds(10));
 
  [[nodiscard]] Blackboard::Ptr rootBlackboard();
 
  //Call the visitor for each node of the tree.
  void applyVisitor(const std::function<void(const TreeNode*)>& visitor);
 
  //Call the visitor for each node of the tree.
  void applyVisitor(const std::function<void(TreeNode*)>& visitor);
 
  [[nodiscard]] uint16_t getUID();
 
  template <typename NodeType = BT::TreeNode>
  [[nodiscard]] std::vector<const TreeNode*>
  getNodesByPath(StringView wildcard_filter) const
  {
    std::vector<const TreeNode*> nodes;
    for(auto const& subtree : subtrees)
    {
      for(auto const& node : subtree->nodes)
      {
        if(auto node_recast = dynamic_cast<const NodeType*>(node.get()))
        {
          if(WildcardMatch(node->fullPath(), wildcard_filter))
          {
            nodes.push_back(node.get());
          }
        }
      }
    }
    return nodes;
  }
 
private:
  std::shared_ptr<WakeUpSignal> wake_up_;
 
  enum TickOption
  {
    EXACTLY_ONCE,
    ONCE_UNLESS_WOKEN_UP,
    WHILE_RUNNING
  };
 
  NodeStatus tickRoot(TickOption opt, std::chrono::milliseconds sleep_time);
 
  uint16_t uid_counter_ = 0;
};
 
class Parser;
 
class BehaviorTreeFactory
{
public:
  BehaviorTreeFactory();
  ~BehaviorTreeFactory();
 
  BehaviorTreeFactory(const BehaviorTreeFactory& other) = delete;
  BehaviorTreeFactory& operator=(const BehaviorTreeFactory& other) = delete;
 
  BehaviorTreeFactory(BehaviorTreeFactory&& other) noexcept;
  BehaviorTreeFactory& operator=(BehaviorTreeFactory&& other) noexcept;
 
  bool unregisterBuilder(const std::string& ID);
 
  void registerBuilder(const TreeNodeManifest& manifest, const NodeBuilder& builder);
 
  template <typename T>
  void registerBuilder(const std::string& ID, const NodeBuilder& builder)
  {
    auto manifest = CreateManifest<T>(ID);
    registerBuilder(manifest, builder);
  }
 
  void registerSimpleAction(const std::string& ID,
                            const SimpleActionNode::TickFunctor& tick_functor,
                            PortsList ports = {});
  void registerSimpleCondition(const std::string& ID,
                               const SimpleConditionNode::TickFunctor& tick_functor,
                               PortsList ports = {});
  void registerSimpleDecorator(const std::string& ID,
                               const SimpleDecoratorNode::TickFunctor& tick_functor,
                               PortsList ports = {});
 
  void registerFromPlugin(const std::string& file_path);
 
  void registerFromROSPlugins();
 
  void registerBehaviorTreeFromFile(const std::filesystem::path& filename);
 
  void registerBehaviorTreeFromText(const std::string& xml_text);
 
  [[nodiscard]] std::vector<std::string> registeredBehaviorTrees() const;
 
  void clearRegisteredBehaviorTrees();
 
  [[nodiscard]] std::unique_ptr<TreeNode> instantiateTreeNode(
      const std::string& name, const std::string& ID, const NodeConfig& config) const;
 
  template <typename T, typename... ExtraArgs>
  void registerNodeType(const std::string& ID, const PortsList& ports, ExtraArgs... args)
  {
    static_assert(std::is_base_of<ActionNodeBase, T>::value ||
                      std::is_base_of<ControlNode, T>::value ||
                      std::is_base_of<DecoratorNode, T>::value ||
                      std::is_base_of<ConditionNode, T>::value,
                  "[registerNode]: accepts only classed derived from either "
                  "ActionNodeBase, "
                  "DecoratorNode, ControlNode or ConditionNode");
 
    constexpr bool default_constructable =
        std::is_constructible<T, const std::string&>::value;
    constexpr bool param_constructable =
        std::is_constructible<T, const std::string&, const NodeConfig&,
                              ExtraArgs...>::value;
 
    // clang-format off
    static_assert(!std::is_abstract<T>::value,
                  "[registerNode]: Some methods are pure virtual. "
                  "Did you override the methods tick() and halt()?");
 
    static_assert(default_constructable || param_constructable,
       "[registerNode]: the registered class must have at least one of these two constructors:\n"
       "  (const std::string&, const NodeConfig&) or (const std::string&)\n"
       "Check also if the constructor is public!)");
    // clang-format on
 
    registerBuilder(CreateManifest<T>(ID, ports), CreateBuilder<T>(args...));
  }
 
  template <typename T, typename... ExtraArgs>
  void registerNodeType(const std::string& ID, ExtraArgs... args)
  {
    if constexpr(std::is_abstract_v<T>)
    {
      // check first if the given class is abstract
      static_assert(!std::is_abstract_v<T>, "The Node type can't be abstract. "
                                            "Did you forget to implement an abstract "
                                            "method in the derived class?");
    }
    else
    {
      constexpr bool param_constructable =
          std::is_constructible<T, const std::string&, const NodeConfig&,
                                ExtraArgs...>::value;
      constexpr bool has_static_ports_list = has_static_method_providedPorts<T>::value;
 
      // clang-format off
      static_assert(!(param_constructable && !has_static_ports_list),
                    "[registerNode]: you MUST implement the static method:\n"
                    "  PortsList providedPorts();\n");
 
      static_assert(!(has_static_ports_list && !param_constructable),
                    "[registerNode]: since you have a static method providedPorts(),\n"
                    "you MUST add a constructor with signature:\n"
                    "(const std::string&, const NodeConfig&)\n");
    }
    // clang-format on
    registerNodeType<T>(ID, getProvidedPorts<T>(), args...);
  }
 
  [[nodiscard]] const std::unordered_map<std::string, NodeBuilder>& builders() const;
 
  [[nodiscard]] const std::unordered_map<std::string, TreeNodeManifest>&
  manifests() const;
 
  [[nodiscard]] const std::set<std::string>& builtinNodes() const;
 
  [[nodiscard]] Tree createTreeFromText(
      const std::string& text, Blackboard::Ptr blackboard = Blackboard::create());
 
  [[nodiscard]] Tree
  createTreeFromFile(const std::filesystem::path& file_path,
                     Blackboard::Ptr blackboard = Blackboard::create());
 
  [[nodiscard]] Tree createTree(const std::string& tree_name,
                                Blackboard::Ptr blackboard = Blackboard::create());
 
  void addMetadataToManifest(const std::string& node_id, const KeyValueVector& metadata);
 
  void registerScriptingEnum(StringView name, int value);
 
  template <typename EnumType>
  void registerScriptingEnums()
  {
    constexpr auto entries = magic_enum::enum_entries<EnumType>();
    for(const auto& it : entries)
    {
      registerScriptingEnum(it.second, static_cast<int>(it.first));
    }
  }
 
  void clearSubstitutionRules();
 
  using SubstitutionRule = std::variant<std::string, TestNodeConfig>;
 
  void addSubstitutionRule(StringView filter, SubstitutionRule rule);
 
  void loadSubstitutionRuleFromJSON(const std::string& json_text);
 
  [[nodiscard]] const std::unordered_map<std::string, SubstitutionRule>&
  substitutionRules() const;
 
private:
  struct PImpl;
  std::unique_ptr<PImpl> _p;
};
 
void BlackboardClone(const Blackboard& src, Blackboard& dst);
 
std::vector<Blackboard::Ptr> BlackboardBackup(const BT::Tree& tree);
 
void BlackboardRestore(const std::vector<Blackboard::Ptr>& backup, BT::Tree& tree);
 
nlohmann::json ExportTreeToJSON(const BT::Tree& tree);
 
void ImportTreeFromJSON(const nlohmann::json& json, BT::Tree& tree);
 
}  // namespace BT
 
#endif  // BT_FACTORY_H