Merge commit 'eb9ff2e' into develop

Author: Piruri

CHANGELOG.rst

@@ -2,6 +2,65 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.6 (2021-02-03)
+------------------
+* fix issue `#227 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/227>`_
+* fix issue `#256 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/256>`_
+* Merge branch 'master' of https://github.com/BehaviorTree/BehaviorTree.CPP
+* fix issue `#250 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/250>`_
+* Fixed typos on SequenceNode.md (`#254 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/254>`_)
+* Contributors: Davide Faconti, LucasNolasco
+
+3.5.5 (2021-01-27)
+------------------
+* fix issue `#251 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/251>`_
+* Contributors: Davide Faconti
+
+3.5.4 (2020-12-10)
+------------------
+* Update bt_factory.cpp (`#245 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/245>`_)
+* Use the latest version of zmq.hpp
+* Improved switching BTs with active Groot monitoring (ZMQ logger destruction) (`#244 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/244>`_)
+  * Skip 100ms (max) wait for detached thread
+  * add {} to single line if statements
+* Update retry_node.cpp
+* fix
+* fix issue `#230 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/230>`_
+* Contributors: Davide Faconti, Florian Gramß, amangiat88
+
+3.5.3 (2020-09-10)
+------------------
+* fix issue `#228 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/228>`_ . Retry and Repeat node need to halt the child
+* better tutorial
+* Contributors: Davide Faconti
+
+3.5.2 (2020-09-02)
+------------------
+* fix warning and follow coding standard
+* docs: Small changes to tutorial 02 (`#225 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/225>`_)
+  Co-authored-by: Valerio Magnago <[email protected]>
+* Merge branch 'master' of https://github.com/BehaviorTree/BehaviorTree.CPP
+* tutorial 1 fixed
+* decreasing warning level to fix issue `#220 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/220>`_
+* fix compilation
+* Allow BT factory to define clock source for TimerQueue/TimerNode (`#215 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/215>`_)
+  * Allow BT factory to define clock source for TimerQueue/TimerNode
+  * Fix unit tests
+  Co-authored-by: Cam Fulton <[email protected]>
+  Co-authored-by: Davide Faconti <[email protected]>
+* Added delay node and wait for enter keypress node (`#182 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/182>`_)
+  * Added delay node and wait for enter press node
+  * Fixed unsigned int to int conversion bug
+  * Added a new timer to keep a track of delay timeout and return RUNNING in the meanwhile
+  * Removed wait for keypress node
+  * Review changes suggested by gramss
+  Co-authored-by: Indraneel Patil <[email protected]>
+* Update SequenceNode.md (`#211 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/211>`_)
+* add failure threshold to parallel node with tests (`#216 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/216>`_)
+* Update tutorial_05_subtrees.md
+  I believe that the API has been updated. Reflecting the same in this tutorial.
+* Contributors: Aayush Naik, Davide Faconti, Indraneel Patil, Renan Salles, Valerio Magnago, Wuqiqi123, fultoncjb
+
 3.5.1 (2020-06-11)
 ------------------
 * trying to fix compilation in eloquent  Minor fix on line 19

CMakeLists.txt

@@ -15,21 +15,22 @@ endif()
 
 #---- Include boost to add coroutines ----
 find_package(Boost COMPONENTS coroutine QUIET)
+
 if(Boost_FOUND)
-    include_directories(${Boost_INCLUDE_DIRS})
     string(REPLACE "." "0" Boost_VERSION_NODOT ${Boost_VERSION})
     if(NOT Boost_VERSION_NODOT VERSION_LESS 105900)
         message(STATUS "Found boost::coroutine2.")
         add_definitions(-DBT_BOOST_COROUTINE2)
         set(BT_COROUTINES true)
     elseif(NOT Boost_VERSION_NODOT VERSION_LESS 105300)
         message(STATUS "Found boost::coroutine.")
-        include_directories(${Boost_INCLUDE_DIRS})
         add_definitions(-DBT_BOOST_COROUTINE)
         set(BT_COROUTINES true)
     endif()
+    include_directories(${Boost_INCLUDE_DIRS})
 endif()
 
+
 if(NOT DEFINED BT_COROUTINES)
     message(STATUS "Coroutines disabled. Install Boost to enable them (version 1.59+ recommended).")
     add_definitions(-DBT_NO_COROUTINES)
@@ -47,16 +48,15 @@ option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 find_package(Threads)
 find_package(ZMQ)
 
-list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES
+list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES
     ${CMAKE_THREAD_LIBS_INIT}
     ${CMAKE_DL_LIBS}
-    ${Boost_LIBRARIES} )
+)
 
 if( ZMQ_FOUND )
     message(STATUS "ZeroMQ found.")
     add_definitions( -DZMQ_FOUND )
     list(APPEND BT_SOURCE src/loggers/bt_zmq_publisher.cpp)
-    list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES ${ZMQ_LIBRARIES})
 else()
     message(WARNING "ZeroMQ NOT found. Skipping the build of [PublisherZMQ] and [bt_recorder].")
 endif()
@@ -100,17 +100,11 @@ elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
         CFG_EXTRAS behaviortree_cpp-extras.cmake # ZMQ found var
         )
 
-    list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES ${catkin_LIBRARIES})
+    list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${catkin_LIBRARIES})
     set(BUILD_TOOL_INCLUDE_DIRS ${catkin_INCLUDE_DIRS})
 
 elseif(BUILD_UNIT_TESTS)
-    find_package(GTest)
-
-    if(NOT GTEST_FOUND)
-        message(WARNING " GTest missing! You may want to follow these instructions:")
-        message(WARNING " https://gist.github.com/Cartexius/4c437c084d6e388288201aadf9c8cdd5")
-    endif()
-
+    find_package(GTest REQUIRED)
 endif()
 if(NOT MSVC)
     list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES "dw")
@@ -167,7 +161,7 @@ list(APPEND BT_SOURCE
     src/decorators/repeat_node.cpp
     src/decorators/retry_node.cpp
     src/decorators/subtree_node.cpp
-    src/decorators/timeout_node.cpp
+    src/decorators/delay_node.cpp
 
     src/controls/if_then_else_node.cpp
     src/controls/fallback_node.cpp
@@ -193,7 +187,7 @@ if(CURSES_FOUND)
     list(APPEND BT_SOURCE
         src/controls/manual_node.cpp
         )
-    list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES ${CURSES_LIBRARIES})
+    list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${CURSES_LIBRARIES})
     add_definitions(-DNCURSES_FOUND)
 endif()
 
@@ -220,7 +214,17 @@ if( ZMQ_FOUND )
 endif()
 
 target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PUBLIC
-    ${BEHAVIOR_TREE_EXTERNAL_LIBRARIES})
+    ${BEHAVIOR_TREE_PUBLIC_LIBRARIES})
+
+target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+    ${Boost_LIBRARIES}
+    ${ZMQ_LIBRARIES})
+
+#get_target_property(my_libs ${BEHAVIOR_TREE_LIBRARY} INTERFACE_LINK_LIBRARIES)
+#list(REMOVE_ITEM _libs X)
+#message("my_libs: ${my_libs}")
+
+#set_target_properties(${BEHAVIOR_TREE_LIBRARY} PROPERTIES INTERFACE_LINK_LIBRARIES "")
 
 target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
 
@@ -235,7 +239,7 @@ if( ZMQ_FOUND )
 endif()
 
 if(MSVC)
-    target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE /W4 /WX)
+    target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE /W3 /WX)
 else()
     target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE
         -Wall -Wextra -Werror=return-type -Wfatal-errors)

README.md

@@ -45,6 +45,11 @@ You can learn about the main concepts, the API and the tutorials here: https://w
 
 To find more details about the conceptual ideas that make this implementation different from others, you can read the [final deliverable of the project MOOD2Be](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/MOOD2Be_final_report.pdf).
 
+<!-- # Does your company use BehaviorTree.CPP?
+
+No company, institution or public/private funding is currently supporting the development of BehaviorTree.CPP and Groot.
+
+Consider becoming a **sponsor** to support bug fixing and development of new features. You can find contact details in [package.xml](package.xml). -->
 
 # Design principles
 
@@ -126,7 +131,7 @@ to your catkin workspace.
 
 # Acknowledgement
 
-This library was developed at  **Eurecat - https://eurecat.org/en/** (main author, Davide Faconti) in a joint effort
+This library was initially developed at  **Eurecat - https://eurecat.org/en/** (main author, Davide Faconti) in a joint effort
 with the **Italian Institute of Technology** (Michele Colledanchise).
 
 This software is one of the main components of [MOOD2Be](https://eurecat.org/en/portfolio-items/mood2be/),
@@ -155,7 +160,7 @@ The Preprint version (free) is available here: https://arxiv.org/abs/1709.00084
 The MIT License (MIT)
 
 Copyright (c) 2014-2018 Michele Colledanchise
-Copyright (c) 2018-2020 Davide Faconti
+Copyright (c) 2018-2021 Davide Faconti
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

docs/SequenceNode.md

@@ -45,9 +45,9 @@ This tree represents the behavior of a sniper in a computer game.
 		status = RUNNING;
         // _index is a private member
 
-		while( index < number_of_children)
+		while(_index < number_of_children)
 		{
-			child_status = child[index]->tick();
+			child_status = child[_index]->tick();
 			
             if( child_status == SUCCESS ) {
                 _index++;
@@ -72,7 +72,7 @@ This tree represents the behavior of a sniper in a computer game.
 
 This node is particularly useful to continuously check Conditions; but 
 the user should also be careful when using asynchronous children, to be
-sure that thy are not ticked more often that expected.
+sure that they are not ticked more often that expected.
 
 Let's take a look at another example:
 

docs/tutorial_01_first_tree.md

@@ -107,7 +107,7 @@ Let's consider the following XML file named __my_tree.xml__:
  <root main_tree_to_execute = "MainTree" >
      <BehaviorTree ID="MainTree">
         <Sequence name="root_sequence">
-            <SayHello       name="action_hello"/>
+            <CheckBattery   name="check_battery"/>
             <OpenGripper    name="open_gripper"/>
             <ApproachObject name="approach_object"/>
             <CloseGripper   name="close_gripper"/>

docs/tutorial_02_basic_ports.md

@@ -93,6 +93,27 @@ class SaySomething : public SyncActionNode
 
 ```
 
+Alternatively the same functionality can be implemented in a simple function. This function takes an instance of `BT:TreeNode` as input in order to access the "message" Input Port:
+
+```c++
+// Simple function that return a NodeStatus
+BT::NodeStatus SaySomethingSimple(BT::TreeNode& self)
+{
+  Optional<std::string> msg = self.getInput<std::string>("message");
+  // Check if optional is valid. If not, throw its error
+  if (!msg)
+  {
+    throw BT::RuntimeError("missing required input [message]: ", msg.error());
+  }
+
+  // use the method value() to extract the valid message.
+  std::cout << "Robot says: " << msg.value() << std::endl;
+  return NodeStatus::SUCCESS;
+}
+```
+
+
+
 When a custom TreeNode has input and/or output ports, these ports must be 
 declared in the __static__ method:
 
@@ -109,7 +130,7 @@ check the validity of the returned value and to decide what to do:
 - Return `NodeStatus::FAILURE`?
 - Throw an exception?
 - Use a different default value?
- 
+
 !!! Warning "Important"
      It is __always__ recommended to call the method `getInput()` inside the 
      `tick()`, and __not__ in the constructor of the class.
@@ -118,11 +139,11 @@ check the validity of the returned value and to decide what to do:
      the nature of the input, which could be either static or dynamic.
      A dynamic input can change at run-time, for this reason it should be read 
      periodically. 
- 
+
 ## Output ports
 
 An input port pointing to the entry of the blackboard will be valid only
-if another node have already wrritten "something" inside that same entry.
+if another node have already written "something" inside that same entry.
 
 `ThinkWhatToSay` is an example of Node that uses an __output port__ to write a 
 string into an entry.
@@ -172,24 +193,31 @@ In this example, a Sequence of 5 Actions is executed:
 `SaySomething2` is a SimpleActionNode. 
 
 ```XML
- <root>
-     <BehaviorTree>
-        <Sequence name="root">
-            <SaySomething     message="start thinking..." />
-            <ThinkWhatToSay   text="{the_answer}"/>
-            <SaySomething     message="{the_answer}" />
-            <SaySomething2    message="SaySomething2 works too..." />
-            <SaySomething2    message="{the_answer}" />
-        </Sequence>
-     </BehaviorTree>
- </root>
+<root main_tree_to_execute = "MainTree" >
+    <BehaviorTree ID="MainTree">
+       <Sequence name="root_sequence">
+           <SaySomething     message="start thinking..." />
+           <ThinkWhatToSay   text="{the_answer}"/>
+           <SaySomething     message="{the_answer}" />
+           <SaySomething2    message="SaySomething2 works too..." />
+           <SaySomething2    message="{the_answer}" />
+       </Sequence>
+    </BehaviorTree>
+</root>
 ```
 
 The C++ code:
 
 ```C++
+#include "behaviortree_cpp_v3/bt_factory.h"
+
+// file that contains the custom nodes definitions
+#include "dummy_nodes.h"
+
 int main()
 {
+    using namespace DummyNodes;
+    
     BehaviorTreeFactory factory;
 
     factory.registerNodeType<SaySomething>("SaySomething");
@@ -202,7 +230,7 @@ int main()
     factory.registerSimpleAction("SaySomething2", SaySomethingSimple, 
                                  say_something_ports );
 
-    auto tree = factory.createTreeFromText(xml_text);
+    auto tree = factory.createTreeFromFile("./my_tree.xml");
 
     tree.tickRoot();
 
@@ -223,3 +251,5 @@ this means that they "point" to the same entry of the blackboard.
 These ports can be connected to each other because their type is the same,
 i.e. `std::string`.
 
+
+

docs/tutorial_05_subtrees.md

@@ -88,13 +88,13 @@ int main()
     auto tree = factory.createTreeFromText(xml_text);
 
     // This logger prints state changes on console
-    StdCoutLogger logger_cout(tree.rootNode());
+    StdCoutLogger logger_cout(tree);
 
     // This logger saves state changes on file
-    FileLogger logger_file(tree.rootNode(), "bt_trace.fbl");
+    FileLogger logger_file(tree, "bt_trace.fbl");
 
     // This logger stores the execution time of each node
-    MinitraceLogger logger_minitrace(tree.rootNode(), "bt_trace.json");
+    MinitraceLogger logger_minitrace(tree, "bt_trace.json");
 
 #ifdef ZMQ_FOUND
     // This logger publish status changes using ZeroMQ. Used by Groot