t06_subtree_port_remapping.cpp

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#include "behaviortree_cpp/loggers/bt_cout_logger.h"
#include "behaviortree_cpp/bt_factory.h"
 
#include "movebase_node.h"
#include "dummy_nodes.h"
 
// clang-format off
 
static const char* xml_text = R"(
<root BTCPP_format="4">
 
    <BehaviorTree ID="MainTree">
        <Sequence>
            <Script code=" move_goal='1;2;3' " />
            <SubTree ID="MoveRobot" target="{move_goal}" result="{move_result}" />
            <SaySomething message="{move_result}"/>
        </Sequence>
    </BehaviorTree>
 
    <BehaviorTree ID="MoveRobot">
        <Fallback>
            <Sequence>
                <MoveBase  goal="{target}"/>
                <Script code=" result:='goal reached' " />
            </Sequence>
            <ForceFailure>
                <Script code=" result:='error' " />
            </ForceFailure>
        </Fallback>
    </BehaviorTree>
 
</root>
 )";
 
// clang-format on
 
using namespace BT;
using namespace DummyNodes;
 
int main()
{
  BehaviorTreeFactory factory;
 
  factory.registerNodeType<SaySomething>("SaySomething");
  factory.registerNodeType<MoveBaseAction>("MoveBase");
 
  factory.registerBehaviorTreeFromText(xml_text);
  auto tree = factory.createTree("MainTree");
 
  tree.tickWhileRunning();
 
  // let's visualize some information about the current state of the blackboards.
  std::cout << "\n------ First BB ------" << std::endl;
  tree.subtrees[0]->blackboard->debugMessage();
  std::cout << "\n------ Second BB------" << std::endl;
  tree.subtrees[1]->blackboard->debugMessage();
 
  return 0;
}
 
/* Expected output:
 
------ First BB ------
move_result (std::string)
move_goal (Pose2D)
 
------ Second BB------
[result] remapped to port of parent tree [move_result]
[target] remapped to port of parent tree [move_goal]
 
*/