t14_subtree_model.cpp

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#include "behaviortree_cpp/bt_factory.h"
#include "behaviortree_cpp/loggers/bt_cout_logger.h"
 
using namespace BT;
 
/*
 * Demonstrate how to use a SubTree Model (since version 4.4)
 */
 
// clang-format off
static const char* xml_subtree = R"(
<root BTCPP_format="4">
 
  <TreeNodesModel>
    <SubTree ID="MySub">
      <input_port name="sub_in_value" default="42"/>
      <input_port name="sub_in_name"/>
      <output_port name="sub_out_result" default="{out_result}"/>
      <output_port name="sub_out_state"/>
    </SubTree>
  </TreeNodesModel>
 
  <BehaviorTree ID="MySub">
    <Sequence>
      <ScriptCondition code="sub_in_value==42 && sub_in_name=='john'" />
      <Script code="sub_out_result:=69; sub_out_state:='ACTIVE'" />
    </Sequence>
  </BehaviorTree>
</root>
 )";
 
static const char* xml_maintree = R"(
<root BTCPP_format="4">
 
  <BehaviorTree ID="MainTree">
    <Sequence>
      <Script code="in_name:= 'john' "/>
      <SubTree ID="MySub" sub_in_name="{in_name}"
                          sub_out_state="{out_state}"/>
      <ScriptCondition code=" out_result==69 && out_state=='ACTIVE' " />
    </Sequence>
  </BehaviorTree>
 
</root>
 )";
 
// clang-format on
 
int main()
{
  BehaviorTreeFactory factory;
  factory.registerBehaviorTreeFromText(xml_subtree);
  factory.registerBehaviorTreeFromText(xml_maintree);
 
  auto tree = factory.createTree("MainTree");
  StdCoutLogger logger(tree);
  tree.tickWhileRunning();
 
  // We expect the sequence to be successful.
 
  // The full remapping was:
  //
  // - sub_in_name    <-> {in_name}      // specified by callee 'MainTree'
  // - sub_in_value   <-> 42             // default remapping, see model
  // - sub_out_result <-> {out_result}   // default remapping, see model
  // - sub_out_state  <-> {out_state}    // specified by callee 'MainTree'
 
  return 0;
}