Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP

Author: facontidavide

CMakeLists.txt

@@ -111,7 +111,7 @@ list(APPEND BT_SOURCE
     src/controls/reactive_sequence.cpp
     src/controls/reactive_fallback.cpp
     src/controls/sequence_node.cpp
-    src/controls/sequence_star_node.cpp
+    src/controls/sequence_with_memory_node.cpp
     src/controls/switch_node.cpp
     src/controls/while_do_else_node.cpp
 

README.md

@@ -74,7 +74,7 @@ Assuming that you are in the **parent** directory of `BehaviorTree.CPP`:
 ```
 mkdir build; cd build
 conan install ../BehaviorTree.CPP --output-folder=. --build=missing
-cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE=conan_toolchain.cmake
+cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
 cmake --build . --parallel
 ```
 

examples/test_files/Check.xml

@@ -1,10 +1,10 @@
 <root>
 
     <BehaviorTree ID="CheckStatus">
-        <SequenceStar>
+        <SequenceWithMemory>
             <Action ID="CheckBattery"/>
             <Action ID="CheckTemperature"/>
-        </SequenceStar>
+        </SequenceWithMemory>
     </BehaviorTree>
 
 </root>

examples/test_files/subtrees/Talk.xml

@@ -1,10 +1,10 @@
 <root BTCPP_format="4">
 
     <BehaviorTree ID="SayStuff">
-        <SequenceStar>
+        <SequenceWithMemory>
             <Action ID="SaySomething" message="Hello World"/>
             <Action ID="SayHello"/>
-        </SequenceStar>
+        </SequenceWithMemory>
     </BehaviorTree>
 
 </root>

include/behaviortree_cpp/behavior_tree.h

@@ -19,7 +19,7 @@
 #include "behaviortree_cpp/controls/reactive_fallback.h"
 #include "behaviortree_cpp/controls/fallback_node.h"
 #include "behaviortree_cpp/controls/sequence_node.h"
-#include "behaviortree_cpp/controls/sequence_star_node.h"
+#include "behaviortree_cpp/controls/sequence_with_memory_node.h"
 #include "behaviortree_cpp/controls/switch_node.h"
 #include "behaviortree_cpp/controls/if_then_else_node.h"
 #include "behaviortree_cpp/controls/while_do_else_node.h"

include/behaviortree_cpp/controls/sequence_star_node.h renamed to include/behaviortree_cpp/controls/sequence_with_memory_node.h

@@ -18,7 +18,7 @@
 namespace BT
 {
 /**
- * @brief The SequenceStarNode is used to tick children in an ordered sequence.
+ * @brief The SequenceWithMemory is used to tick children in an ordered sequence.
  * If any child returns RUNNING, previous children are not ticked again.
  *
  * - If all the children return SUCCESS, this node returns SUCCESS.

include/behaviortree_cpp/tree_node.h

@@ -378,6 +378,7 @@ inline Result TreeNode::getInput(const std::string& key, T& destination) const
   // address the special case where T is an enum
   auto ParseString = [this](const std::string& str) -> T
   {
+    (void)this; // maybe unused
     if constexpr (std::is_enum_v<T> && !std::is_same_v<T, NodeStatus>)
     {
       auto it = config().enums->find(str);

include/behaviortree_cpp/utils/safe_any.hpp

@@ -348,7 +348,7 @@ nonstd::expected<T, std::string> Any::stringToNumber() const
   static_assert(std::is_arithmetic_v<T> && !std::is_same_v<T, bool>, "Expecting a numeric type");
 
   const auto str = linb::any_cast<SafeAny::SimpleString>(_any);
-#if __has_include(<GL/gl.h>)
+#if __cpp_lib_to_chars >= 201611L
   T out;
   auto [ptr, err] = std::from_chars(str.data(), str.data() + str.size(), out);
   if(err == std::errc())

src/controls/sequence_star_node.cpp renamed to src/controls/sequence_with_memory_node.cpp

@@ -11,14 +11,14 @@
 *   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
 
-#include "behaviortree_cpp/controls/sequence_star_node.h"
+#include "behaviortree_cpp/controls/sequence_with_memory_node.h"
 
 namespace BT
 {
 SequenceWithMemory::SequenceWithMemory(const std::string& name) :
   ControlNode::ControlNode(name, {}), current_child_idx_(0)
 {
-  setRegistrationID("SequenceStar");
+  setRegistrationID("SequenceWithMemory");
 }
 
 NodeStatus SequenceWithMemory::tick()

src/loggers/groot2_publisher.cpp

@@ -65,7 +65,7 @@ struct Groot2Publisher::PImpl
 
     int timeout_ms = 1000;
     server.set(zmq::sockopt::sndtimeo, timeout_ms);
-    publisher.set(zmq::sockopt::rcvtimeo, timeout_rcv);
+    publisher.set(zmq::sockopt::sndtimeo, timeout_ms);
   }
 
   unsigned server_port = 0;