xml_parsing.h

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#ifndef XML_PARSING_BT_H
#define XML_PARSING_BT_H

#include "behaviortree_cpp/bt_factory.h"

namespace BT
{
class XMLParser
{
  public:
    XMLParser(const BehaviorTreeFactory& factory);

    ~XMLParser();

    XMLParser(const XMLParser& other) = delete;
    XMLParser& operator=(const XMLParser& other) = delete;

    void loadFromFile(const std::string& filename);

    void loadFromText(const std::string& xml_text);

    TreeNode::Ptr instantiateTree(std::vector<TreeNode::Ptr>& nodes, const Blackboard::Ptr &blackboard);

  private:

    struct Pimpl;
    Pimpl* _p;

};

struct Tree
{
    TreeNode* root_node;
    std::vector<TreeNode::Ptr> nodes;

    Tree() : root_node(nullptr)
    {
        
    }

    Tree(TreeNode* root_node, std::vector<TreeNode::Ptr> nodes)
        : root_node(root_node), nodes(nodes)
    {

    }

    ~Tree()
    {
        if (root_node) {
            haltAllActions(root_node);
        }
    }
};

Tree buildTreeFromText(const BehaviorTreeFactory& factory,
                       const std::string& text,
                       const Blackboard::Ptr& blackboard = Blackboard::Ptr());

Tree buildTreeFromFile(const BehaviorTreeFactory& factory,
                       const std::string& filename,
                       const Blackboard::Ptr& blackboard = Blackboard::Ptr());

std::string writeXML(const BehaviorTreeFactory& factory, const TreeNode* root_node,
                     bool compact_representation = false);
}

#endif   // XML_PARSING_BT_H