removing "main_tree_to_execute" from tutorials and adding "BTCPP_format"

facontidavide · facontidavide · commit 92564dfac204 · 2022-11-19T18:58:18.000+01:00
diff --git a/examples/ex01_wrap_legacy.cpp b/examples/ex01_wrap_legacy.cpp
@@ -51,7 +51,7 @@ Point3D convertFromString(StringView key)
 // clang-format off
 static const char* xml_text = R"(
 
- <root>
+ <root BTCPP_format="4">
      <BehaviorTree>
         <MoveTo  goal="-1;3;0.5" />
      </BehaviorTree>
diff --git a/examples/ex02_runtime_ports.cpp b/examples/ex02_runtime_ports.cpp
@@ -3,7 +3,7 @@ using namespace BT;
 
 // clang-format off
 static const char* xml_text = R"(
- <root main_tree_to_execute = "MainTree" >
+ <root BTCPP_format="4" >
      <BehaviorTree ID="MainTree">
         <Sequence name="root">
             <ThinkRuntimePort   text="{the_answer}"/>
@@ -62,7 +62,8 @@ int main()
   PortsList say_ports = {BT::InputPort<std::string>("message")};
   factory.registerNodeType<SayRuntimePort>("SayRuntimePort", say_ports);
 
-  auto tree = factory.createTreeFromText(xml_text);
+  factory.registerBehaviorTreeFromText(xml_text);
+  auto tree = factory.createTree("MainTree");
   tree.tickWhileRunning();
 
   return 0;
diff --git a/examples/ex03_ncurses_manual_selector.cpp b/examples/ex03_ncurses_manual_selector.cpp
@@ -10,7 +10,7 @@ using namespace BT;
 
 // clang-format off
 static const char* xml_text = R"(
- <root main_tree_to_execute = "MainTree" >
+ <root BTCPP_format="4" >
      <BehaviorTree ID="MainTree">
         <Repeat num_cycles="3">
             <ManualSelector repeat_last_selection="0">
diff --git a/examples/ex04_waypoints.cpp b/examples/ex04_waypoints.cpp
@@ -126,7 +126,7 @@ class UseWaypoint : public ThreadedAction
 // clang-format off
 
 static const char* xml_implicit = R"(
- <root main_tree_to_execute = "TreeImplicit" >
+ <root BTCPP_format="4" >
      <BehaviorTree ID="TreeImplicit">
         <Sequence>
             <GenerateWaypoints waypoints="{waypoints}" />
@@ -140,7 +140,7 @@ static const char* xml_implicit = R"(
 
 
 static const char* xml_A = R"(
- <root main_tree_to_execute = "TreeA" >
+ <root BTCPP_format="4" >
      <BehaviorTree ID="TreeA">
         <Sequence>
             <GenerateWaypoints waypoints="{waypoints}" />
@@ -157,7 +157,7 @@ static const char* xml_A = R"(
  )";
 
 static const char* xml_B = R"(
- <root main_tree_to_execute = "TreeB" >
+ <root BTCPP_format="4" >
      <BehaviorTree ID="TreeB">
         <Sequence>
             <GenerateWaypoints waypoints="{waypoints}" />
diff --git a/examples/t01_build_your_first_tree.cpp b/examples/t01_build_your_first_tree.cpp
@@ -20,7 +20,7 @@ using namespace BT;
 // clang-format off
 static const char* xml_text = R"(
 
- <root main_tree_to_execute = "MainTree" >
+ <root BTCPP_format="4" >
 
      <BehaviorTree ID="MainTree">
         <Sequence name="root_sequence">
@@ -73,11 +73,13 @@ int main()
   // it automated the registering step.
   factory.registerFromPlugin("./libdummy_nodes_dyn.so");
 #endif
+  // register the XML description
+  factory.registerBehaviorTreeFromText(xml_text);
 
   // Trees are created at deployment-time (i.e. at run-time, but only once at the beginning).
   // The currently supported format is XML.
   // IMPORTANT: when the object "tree" goes out of scope, all the TreeNodes are destroyed
-  auto tree = factory.createTreeFromText(xml_text);
+  auto tree = factory.createTree("MainTree");
 
   // To "execute" a Tree you need to "tick" it.
   // The tick is propagated to the children based on the logic of the tree.
diff --git a/examples/t02_basic_ports.cpp b/examples/t02_basic_ports.cpp
@@ -28,7 +28,7 @@ using namespace BT;
 // clang-format off
 static const char* xml_text = R"(
 
- <root main_tree_to_execute = "MainTree" >
+ <root BTCPP_format="4" >
 
      <BehaviorTree ID="MainTree">
         <Sequence name="root">
diff --git a/examples/t03_generic_ports.cpp b/examples/t03_generic_ports.cpp
@@ -93,7 +93,7 @@ class PrintTarget : public SyncActionNode
 *  2) Call PrintTarget. The input "target" will be read from the Blackboard
 *     entry "GoalPosition".
 *
-*  3) Use the built-in action SetBlackboard to write the key "OtherGoal".
+*  3) Use the built-in action Script to write the key "OtherGoal".
 *     A conversion from string to Position2D will be done under the hood.
 *
 *  4) Call PrintTarget. The input "goal" will be read from the Blackboard
@@ -103,7 +103,7 @@ class PrintTarget : public SyncActionNode
 // clang-format off
 static const char* xml_text = R"(
 
- <root main_tree_to_execute = "MainTree" >
+ <root BTCPP_format="4" >
      <BehaviorTree ID="MainTree">
         <Sequence name="root">
             <CalculateGoal   goal="{GoalPosition}" />
@@ -126,6 +126,7 @@ int main()
   factory.registerNodeType<PrintTarget>("PrintTarget");
 
   auto tree = factory.createTreeFromText(xml_text);
+
   tree.tickWhileRunning();
 
   /* Expected output:
diff --git a/examples/t04_reactive_sequence.cpp b/examples/t04_reactive_sequence.cpp
@@ -16,7 +16,7 @@ using namespace BT;
 
 static const char* xml_text_sequence = R"(
 
- <root main_tree_to_execute = "MainTree" >
+ <root BTCPP_format="4" >
 
      <BehaviorTree ID="MainTree">
         <Sequence name="root">
@@ -32,7 +32,7 @@ static const char* xml_text_sequence = R"(
 
 static const char* xml_text_reactive = R"(
 
- <root main_tree_to_execute = "MainTree" >
+ <root BTCPP_format="4" >
 
      <BehaviorTree ID="MainTree">
         <ReactiveSequence name="root">
@@ -55,6 +55,7 @@ using namespace DummyNodes;
 int main()
 {
   BehaviorTreeFactory factory;
+
   factory.registerSimpleCondition("BatteryOK", std::bind(CheckBattery));
   factory.registerNodeType<MoveBaseAction>("MoveBase");
   factory.registerNodeType<SaySomething>("SaySomething");
diff --git a/examples/t05_crossdoor.cpp b/examples/t05_crossdoor.cpp
@@ -10,7 +10,7 @@
 // clang-format off
 
 static const char* xml_text = R"(
-<root main_tree_to_execute = "MainTree">
+<root BTCPP_format="4">
 
     <BehaviorTree ID="MainTree">
         <Sequence>
@@ -46,8 +46,12 @@ int main()
   CrossDoor cross_door;
   cross_door.registerNodes(factory);
 
-  // Load from text or file...
-  auto tree = factory.createTreeFromText(xml_text);
+  // In this example a single XML contains multiple tags <BehaviorTree>
+  // To determine which one is the "main one", we should first register
+  // the XML and then allocate a specific tree, using its ID
+
+  factory.registerBehaviorTreeFromText(xml_text);
+  auto tree = factory.createTree("MainTree");
 
   // helper function to print the tree
   BT::printTreeRecursively(tree.rootNode());
diff --git a/examples/t06_subtree_port_remapping.cpp b/examples/t06_subtree_port_remapping.cpp
@@ -21,11 +21,11 @@
 // clang-format off
 
 static const char* xml_text = R"(
-<root main_tree_to_execute = "MainTree">
+<root BTCPP_format="4">
 
     <BehaviorTree ID="MainTree">
         <Sequence>
-            <Script script=" move_goal='1;2;3' " />
+            <Script code=" move_goal='1;2;3' " />
             <SubTree ID="MoveRobot" target="{move_goal}" result="{move_result}" />
             <SaySomething message="{move_result}"/>
         </Sequence>
@@ -35,10 +35,10 @@ static const char* xml_text = R"(
         <Fallback>
             <Sequence>
                 <MoveBase  goal="{target}"/>
-                <Script script=" result:='goal reached' " />
+                <Script code=" result:='goal reached' " />
             </Sequence>
             <ForceFailure>
-                <Script script=" result:='error' " />
+                <Script code=" result:='error' " />
             </ForceFailure>
         </Fallback>
     </BehaviorTree>
@@ -58,7 +58,8 @@ int main()
   factory.registerNodeType<SaySomething>("SaySomething");
   factory.registerNodeType<MoveBaseAction>("MoveBase");
 
-  auto tree = factory.createTreeFromText(xml_text);
+  factory.registerBehaviorTreeFromText(xml_text);
+  auto tree = factory.createTree("MainTree");
 
   tree.tickWhileRunning();
 
diff --git a/examples/t07_load_multiple_xml.cpp b/examples/t07_load_multiple_xml.cpp
@@ -9,7 +9,7 @@
 // clang-format off
 
 static const char* xml_text_main = R"(
-<root main_tree_to_execute="MainTree">
+<root BTCPP_format="4">
     <BehaviorTree ID="MainTree">
         <Sequence>
             <SaySomething message="starting MainTree" />
@@ -20,14 +20,14 @@ static const char* xml_text_main = R"(
 </root>  )";
 
 static const char* xml_text_subA = R"(
-<root>
+<root BTCPP_format="4">
     <BehaviorTree ID="SubA">
         <SaySomething message="Executing SubA" />
     </BehaviorTree>
 </root>  )";
 
 static const char* xml_text_subB = R"(
-<root>
+<root BTCPP_format="4">
     <BehaviorTree ID="SubB">
         <SaySomething message="Executing SubB" />
     </BehaviorTree>
diff --git a/examples/t08_additional_node_args.cpp b/examples/t08_additional_node_args.cpp
@@ -69,7 +69,7 @@ class Action_B : public SyncActionNode
 // Simple tree, used to execute once each action.
 static const char* xml_text = R"(
 
- <root >
+ <root BTCPP_format="4">
      <BehaviorTree>
         <Sequence>
             <Action_A/>
diff --git a/examples/t09_scripting.cpp b/examples/t09_scripting.cpp
@@ -5,7 +5,7 @@ using namespace BT;
 
 // clang-format off
 static const char* xml_text = R"(
- <root >
+ <root BTCPP_format="4">
      <BehaviorTree>
         <Sequence>
             <Script code=" msg:='hello world' " />
diff --git a/examples/test_files/subtree_test.xml b/examples/test_files/subtree_test.xml
@@ -1,4 +1,4 @@
-<root main_tree_to_execute="BehaviorTree">
+<root BTCPP_format="4">
 
     <include path="Check.xml" />
     <include path="subtrees/Talk.xml" />
diff --git a/examples/test_files/subtrees/Talk.xml b/examples/test_files/subtrees/Talk.xml
@@ -1,4 +1,4 @@
-<root main_tree_to_execute="SayStuff">
+<root BTCPP_format="4">
 
     <BehaviorTree ID="SayStuff">
         <SequenceStar>
diff --git a/include/behaviortree_cpp/behavior_tree.h b/include/behaviortree_cpp/behavior_tree.h
@@ -35,6 +35,7 @@
 #include "behaviortree_cpp/actions/always_success_node.h"
 #include "behaviortree_cpp/actions/always_failure_node.h"
 #include "behaviortree_cpp/actions/script_node.h"
+#include "behaviortree_cpp/actions/set_blackboard_node.h"
 
 #include "behaviortree_cpp/decorators/force_success_node.h"
 #include "behaviortree_cpp/decorators/force_failure_node.h"
diff --git a/include/behaviortree_cpp/decorators/subtree_node.h b/include/behaviortree_cpp/decorators/subtree_node.h
@@ -18,12 +18,12 @@ namespace BT
     <BehaviorTree ID="MainTree">
         <Sequence>
 
-        <SetBlackboard value="Hello" output_key="myParam" />
+        <Script code="myParam='Hello'" />
         <SubTree ID="Talk" param="{myParam}" />
 
         <SubTree ID="Talk" param="World" />
 
-        <SetBlackboard value="Auto remapped" output_key="param" />
+        <Script code="param='Auto remapped'" />
         <SubTree ID="Talk" _autoremap="1"  />
 
         </Sequence>
diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
@@ -15,7 +15,6 @@
 #include "behaviortree_cpp/bt_factory.h"
 #include "behaviortree_cpp/utils/shared_library.h"
 #include "behaviortree_cpp/xml_parsing.h"
-#include "tinyxml2/tinyxml2.h"
 
 #ifdef USING_ROS
 #include <ros/package.h>
@@ -54,6 +53,7 @@ BehaviorTreeFactory::BehaviorTreeFactory()
   registerNodeType<AlwaysSuccessNode>("AlwaysSuccess");
   registerNodeType<AlwaysFailureNode>("AlwaysFailure");
   registerNodeType<ScriptNode>("Script");
+  registerNodeType<SetBlackboard>("SetBlackboard");
 
   registerNodeType<SubTreeNode>("SubTree");
 
diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
@@ -139,6 +139,13 @@ void XMLParser::Pimpl::loadDocImpl(tinyxml2::XMLDocument* doc, bool add_includes
 
   const XMLElement* xml_root = doc->RootElement();
 
+  auto format = xml_root->Attribute("BTCPP_format");
+  if(!format)
+  {
+    std::cout << "Warnings: The first tag of the XML (<root>) should contain the attribute [BTCPP_format=\"4\"]\n"
+              << "Please check if your XML is compatible with version 4.x of BT.CPP" << std::endl;
+  }
+
   // recursively include other files
   for (auto incl_node = xml_root->FirstChildElement("include"); incl_node != nullptr;
        incl_node = incl_node->NextSiblingElement("include"))
diff --git a/tests/gtest_blackboard.cpp b/tests/gtest_blackboard.cpp
@@ -131,7 +131,7 @@ TEST(BlackboardTest, SetOutputFromText)
 {
   const char* xml_text = R"(
 
-     <root main_tree_to_execute = "MainTree" >
+     <root BTCPP_format="4" >
          <BehaviorTree ID="MainTree">
             <Sequence>
                 <BB_TestNode in_port="11" out_port="{my_port}"/>
@@ -158,7 +158,7 @@ TEST(BlackboardTest, WithFactory)
 
   const std::string xml_text = R"(
 
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" >
         <BehaviorTree ID="MainTree">
             <Sequence>
                 <BB_TestNode in_port="11"
@@ -190,7 +190,7 @@ TEST(BlackboardTest, TypoInPortName)
 
   const std::string xml_text = R"(
 
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" >
         <BehaviorTree ID="MainTree">
              <BB_TestNode inpuuuut_port="{value}" />
         </BehaviorTree>
@@ -206,7 +206,7 @@ TEST(BlackboardTest, CheckPortType)
 
   //-----------------------------
   std::string good_one = R"(
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" >
         <BehaviorTree ID="MainTree">
             <Sequence>
                 <TypedNode name = "first"  output_int="{matching}"  output_string="{whatever}" output="{no_problem}" />
@@ -219,7 +219,7 @@ TEST(BlackboardTest, CheckPortType)
   ASSERT_NE(tree.rootNode(), nullptr);
   //-----------------------------
   std::string bad_one = R"(
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" >
         <BehaviorTree ID="MainTree">
             <Sequence>
                 <TypedNode name = "first"  output_int="{value}" />
diff --git a/tests/gtest_factory.cpp b/tests/gtest_factory.cpp
diff --git a/tests/gtest_ports.cpp b/tests/gtest_ports.cpp
diff --git a/tests/gtest_postconditions.cpp b/tests/gtest_postconditions.cpp
diff --git a/tests/gtest_preconditions.cpp b/tests/gtest_preconditions.cpp
diff --git a/tests/gtest_skipping.cpp b/tests/gtest_skipping.cpp
diff --git a/tests/gtest_subtree.cpp b/tests/gtest_subtree.cpp
diff --git a/tests/gtest_switch.cpp b/tests/gtest_switch.cpp
diff --git a/tests/script_parser_test.cpp b/tests/script_parser_test.cpp
