update

Author: Huwensong

include/behaviortree_cpp_v3/config.cpp

@@ -15,7 +15,7 @@
 #include "Body/Plant.h"
 #include "Engine/Behavior/IvyBehavior.h"
 #include "Engine/IvyEngine.h"
-#include "Anim/drivers/EmoDriver.h"
+//#include "Anim/drivers/EmoDriver.h"
 
 #endif
 
@@ -139,17 +139,19 @@ namespace BT {
 
     std::string get_interrupted_anim_name() {
 #ifdef Ivy
-        return EmoDriver::instance().get_interrupted_anim_name();
+        //return EmoDriver::instance().get_interrupted_anim_name();
 //        return EmoDriver::instance().get_current_anim_unit_name();
 //        return EventDispatcher::instance().get_interrupted_anim_name();
+		return "";
 #else
         return "";
 #endif
     }
 
     std::string get_current_anim_name() {
 #ifdef Ivy
-        return EmoDriver::instance().get_current_anim_unit_name();
+        //return EmoDriver::instance().get_current_anim_unit_name();
+		return "";
 #else
         return "";
 #endif

include/behaviortree_cpp_v3/controls/ControlAnim.h

@@ -12,8 +12,6 @@
 
 #ifdef Ivy
 
-#include "Anim/Anim.h"
-
 #endif
 namespace BT {
     class ControlAnim : public ControlNode {
@@ -27,9 +25,9 @@ namespace BT {
     private:
 #ifdef Ivy
 
-        void set_status(Anim::anim_complete_ret t_status);
+       // void set_status(Anim::anim_complete_ret t_status);
 
-        std::weak_ptr<Anim> anim;
+       // std::weak_ptr<Anim> anim;
 #endif
 
         NodeStatus onStart();

src/controls/ControlAnim.cpp

@@ -6,44 +6,44 @@
 
 #ifdef Ivy
 
-#include "Anim/drivers/EmoDriver.h"
+//#include "Anim/drivers/EmoDriver.h"
 #include "Engine/Behavior/EventDispatcher.h"
 
-BT::NodeStatus BT::ControlAnim::onStart() {
-    auto a = Anim::create({}, [this](Anim::anim_complete_ret ret) { this->set_status(ret); });
-    for (auto child: children()) {
-        Optional<int> ret = child->getInput<int>(ANIMATION_NODE_N);
-        if (!ret) {
-            return NodeStatus::FAILURE;
-        }
-        a->add_unit(AnimUnit(child->name(), ret.value()));
-        log_v("debug-bt add %s | %d", child->name().c_str(), n.value());
-    }
-    anim = a;
-    bool ret = EmoDriver::instance().set_current_anim(a);
-    if (ret) {
-        return NodeStatus::RUNNING;
-    } else {
-        return NodeStatus::FAILURE;
-    }
-}
-
-
-void BT::ControlAnim::onHalted() {
-    std::shared_ptr<Anim> a = anim.lock();
-    if (a) {
-        a->set_complete(Anim::interrupted);
-    }
-}
-
-void BT::ControlAnim::set_status(Anim::anim_complete_ret t_status) {
-            if (t_status == Anim::success) {
-                setStatus(NodeStatus::SUCCESS);
-            } else if (t_status == Anim::failure || t_status == Anim::interrupted) {
-                setStatus(NodeStatus::FAILURE);
-            }
-            EventDispatcher::instance().dispatch(blank_tick);
-}
+//BT::NodeStatus BT::ControlAnim::onStart() {
+//    auto a = Anim::create({}, [this](Anim::anim_complete_ret ret) { this->set_status(ret); });
+//    for (auto child: children()) {
+//        Optional<int> ret = child->getInput<int>(ANIMATION_NODE_N);
+//        if (!ret) {
+//            return NodeStatus::FAILURE;
+//        }
+//        a->add_unit(AnimUnit(child->name(), ret.value()));
+//        log_v("debug-bt add %s | %d", child->name().c_str(), n.value());
+//    }
+//    anim = a;
+//    bool ret = EmoDriver::instance().set_current_anim(a);
+//    if (ret) {
+//        return NodeStatus::RUNNING;
+//    } else {
+//        return NodeStatus::FAILURE;
+//    }
+//}
+
+
+//void BT::ControlAnim::onHalted() {
+//    std::shared_ptr<Anim> a = anim.lock();
+//    if (a) {
+//        a->set_complete(Anim::interrupted);
+//    }
+//}
+
+//void BT::ControlAnim::set_status(Anim::anim_complete_ret t_status) {
+//            if (t_status == Anim::success) {
+//                setStatus(NodeStatus::SUCCESS);
+//            } else if (t_status == Anim::failure || t_status == Anim::interrupted) {
+//                setStatus(NodeStatus::FAILURE);
+//            }
+//            EventDispatcher::instance().dispatch(blank_tick);
+//}
 
 #else