t14_subtree_model.cpp File Reference

#include "behaviortree_cpp/bt_factory.h"
#include "behaviortree_cpp/loggers/bt_cout_logger.h"

Include dependency graph for t14_subtree_model.cpp:

Go to the source code of this file.

Functions
int	main ()

Variables
static const char *	xml_maintree
static const char *	xml_subtree

Function Documentation

main()

int main

(

)

Definition at line 68 of file t14_subtree_model.cpp.

Variable Documentation

xml_maintree

const char* xml_maintree

static

Initial value:

= 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>
 )"

Here, when calling "MySub", only sub_in_name and sub_out_state are explicitly remapped. We will use the default values for the other two.

Definition at line 51 of file t14_subtree_model.cpp.

xml_subtree

const char* xml_subtree

static

Initial value:

= 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>
 )"

You can optionally add a model to a SubTrees, in this case, "MySub". We are telling the factory that the callee should remap two mandatory inputs, and two outputs:

• sub_in_value (that has the default value 42)
• sub_in_name (no default)
• sub_out_result (default remapping to port {output})
• sub_out_state (no default)

The callee (parent tree, including the subtree) MUST specify those remapping which have no default value.

Definition at line 25 of file t14_subtree_model.cpp.