Merge pull request #584 from BehaviorTree/v4.3

V4.3

Author: facontidavide

CHANGELOG.rst

@@ -2,6 +2,22 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* use PImpl in multiple classes
+* updated FileLogger2
+* better error messages
+* blackboard refactoring to fix buggy _autoremap
+* improved support for default values
+* fix error and add nodiscard
+* Fix `#580 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/580>`_ : more informative error when not specializing BT::toStr
+* add builtin models to WriteTreeToXML
+* add simple example to generate logs
+* add Sleep Node
+* Fix `#271 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/271>`_: better error message
+* remove EOL ros2 from CI
+* Contributors: Davide Faconti
+
 4.2.1 (2023-06-07)
 ------------------
 * Fix `#570 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/570>`_: string_view set in blackboard

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.16.3) # version on Ubuntu Focal
 
-project(behaviortree_cpp VERSION 4.2.0 LANGUAGES C CXX)
+project(behaviortree_cpp VERSION 4.3.0 LANGUAGES C CXX)
 
 set(CMAKE_CONFIG_PATH ${CMAKE_MODULE_PATH}  "${CMAKE_CURRENT_LIST_DIR}/cmake")
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CONFIG_PATH}")

README.md

@@ -1,11 +1,11 @@
 ![License MIT](https://img.shields.io/github/license/BehaviorTree/BehaviorTree.CPP?color=blue)
-![Version](https://img.shields.io/badge/version-4.2-blue.svg)
+![Version](https://img.shields.io/badge/version-4.3-blue.svg)
 [![conan Ubuntu](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_ubuntu.yml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_ubuntu.yml)
 [![conan Windows](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_windows.yml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_windows.yml)
 [![ros1](https://github.com/BehaviorTree/BehaviorTree.CPP/workflows/ros1/badge.svg?branch=master)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions?query=workflow%3Aros1)
 [![ros2](https://github.com/BehaviorTree/BehaviorTree.CPP/workflows/ros2/badge.svg?branch=master)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions?query=workflow%3Aros2)
 
-# BehaviorTree.CPP 4.2
+# BehaviorTree.CPP 4.3
 
 <p align="center"><img width=350 src="animated.svg"></p>
 
@@ -99,11 +99,9 @@ You can contact the main author dfaconti@aurynrobotics.com to discuss your use c
 
 The MIT License (MIT)
 
-Copyright (c) 2014-2018 Michele Colledanchise
-
-Copyright (c) 2018-2019 Davide Faconti, Eurecat
-
 Copyright (c) 2019-2023 Davide Faconti
+Copyright (c) 2018-2019 Davide Faconti, Eurecat
+Copyright (c) 2014-2018 Michele Colledanchise
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

examples/t12_groot_howto.cpp

@@ -73,7 +73,7 @@ int main()
   BT::FileLogger2 logger2(tree, "t12_logger2.btlog");
   // SQLite logger can save multiple sessions into the same database
   bool append_to_database = true;
-  BT::SqliteLogger sqlite_logger(tree, "t12_sqlitelog.btsql", append_to_database);
+  BT::SqliteLogger sqlite_logger(tree, "t12_sqlitelog.db3", append_to_database);
 
   while(1)
   {

include/behaviortree_cpp/action_node.h

@@ -78,7 +78,7 @@ class SyncActionNode : public ActionNodeBase
 class SimpleActionNode : public SyncActionNode
 {
 public:
-  typedef std::function<NodeStatus(TreeNode&)> TickFunctor;
+  using TickFunctor = std::function<NodeStatus(TreeNode&)>;
 
   // You must provide the function to call when tick() is invoked
   SimpleActionNode(const std::string& name, TickFunctor tick_functor,

include/behaviortree_cpp/basic_types.h

@@ -130,15 +130,21 @@ NodeType convertFromString<NodeType>(StringView str);
 template <> [[nodiscard]]
 PortDirection convertFromString<PortDirection>(StringView str);
 
-typedef std::function<Any(StringView)> StringConverter;
+using StringConverter = std::function<Any(StringView)>;
 
-typedef std::unordered_map<const std::type_info*, StringConverter> StringConvertersMap;
+using StringConvertersMap = std::unordered_map<const std::type_info*, StringConverter>;
 
 // helper function
 template <typename T> [[nodiscard]]
 inline StringConverter GetAnyFromStringFunctor()
 {
-  return [](StringView str) { return Any(convertFromString<T>(str)); };
+  if constexpr(std::is_constructible_v<StringView, T>)
+  {
+    return [](StringView str) { return Any(str); };
+  }
+  else {
+    return [](StringView str) { return Any(convertFromString<T>(str)); };
+  }
 }
 
 template <> [[nodiscard]]
@@ -152,10 +158,17 @@ inline StringConverter GetAnyFromStringFunctor<void>()
 template<typename T> [[nodiscard]]
 std::string toStr(const T& value)
 {
-  static_assert(std::is_arithmetic_v<T>,
-                "You need a template specialization of BT::toStr() and "
-                "it must be consistent with the implementation of BT::convertFromString");
-  return std::to_string(value);
+  if constexpr(!std::is_arithmetic_v<T>)
+  {
+    throw LogicError(
+        StrCat("Function BT::toStr<T>() not specialized for type [",
+               BT::demangle(typeid(T)), "],",
+               "Implement it consistently with BT::convertFromString<T>(), "
+               "or provide at dummy version that returns an empty string.")
+      );
+  } else {
+    return std::to_string(value);
+  }
 }
 
 template <> [[nodiscard]]
@@ -250,11 +263,11 @@ class PortInfo
   };
 
   PortInfo(PortDirection direction = PortDirection::INOUT) :
-    _type(direction), _type_info(typeid(AnyTypeAllowed))
+    type_(direction), type_info_(typeid(AnyTypeAllowed))
   {}
 
   PortInfo(PortDirection direction, std::type_index type_info, StringConverter conv) :
-    _type(direction), _type_info(type_info), _converter(conv)
+    type_(direction), type_info_(type_info), converter_(conv)
   {}
 
   [[nodiscard]] PortDirection direction() const;
@@ -274,28 +287,38 @@ class PortInfo
 
   void setDescription(StringView description);
 
-  void setDefaultValue(StringView default_value_as_string);
+  template <typename T>
+  void setDefaultValue(const T& default_value) {
+    default_value_ = Any(default_value);
+    try{
+      default_value_str_ = BT::toStr(default_value);
+    }
+    catch(LogicError&) {}
+  }
 
   [[nodiscard]] const std::string& description() const;
 
-  [[nodiscard]] std::optional<std::string> defaultValue() const;
+  [[nodiscard]] const Any& defaultValue() const;
+
+  [[nodiscard]] const std::string& defaultValueString() const;
 
   [[nodiscard]] bool isStronglyTyped() const
   {
-    return _type_info != typeid(AnyTypeAllowed);
+    return type_info_ != typeid(AnyTypeAllowed);
   }
 
   [[nodiscard]] const StringConverter& converter() const
   {
-    return _converter;
+    return converter_;
   }
 
 private:
-  PortDirection _type;
-  std::type_index _type_info;
-  StringConverter _converter;
+  PortDirection type_;
+  std::type_index type_info_;
+  StringConverter converter_;
   std::string description_;
-  std::optional<std::string> default_value_;
+  Any default_value_;
+  std::string default_value_str_;
 };
 
 template <typename T = PortInfo::AnyTypeAllowed> [[nodiscard]]
@@ -355,7 +378,7 @@ inline std::pair<std::string, PortInfo> InputPort(StringView name, const T& defa
                                                   StringView description)
 {
   auto out = CreatePort<T>(PortDirection::INPUT, name, description);
-  out.second.setDefaultValue(BT::toStr(default_value));
+  out.second.setDefaultValue(default_value);
   return out;
 }
 
@@ -365,12 +388,12 @@ inline std::pair<std::string, PortInfo> BidirectionalPort(StringView name,
                                                           StringView description)
 {
   auto out = CreatePort<T>(PortDirection::INOUT, name, description);
-  out.second.setDefaultValue(BT::toStr(default_value));
+  out.second.setDefaultValue(default_value);
   return out;
 }
 //----------
 
-typedef std::unordered_map<std::string, PortInfo> PortsList;
+using PortsList = std::unordered_map<std::string, PortInfo>;
 
 template <typename T, typename = void>
 struct has_static_method_providedPorts : std::false_type
@@ -398,8 +421,8 @@ inline PortsList
   return {};
 }
 
-typedef std::chrono::high_resolution_clock::time_point TimePoint;
-typedef std::chrono::high_resolution_clock::duration Duration;
+using TimePoint = std::chrono::high_resolution_clock::time_point;
+using Duration = std::chrono::high_resolution_clock::duration;
 
 }   // namespace BT
 

include/behaviortree_cpp/behavior_tree.h

@@ -64,7 +64,7 @@ void applyRecursiveVisitor(TreeNode* root_node,
  */
 void printTreeRecursively(const TreeNode* root_node, std::ostream& stream = std::cout);
 
-typedef std::vector<std::pair<uint16_t, uint8_t>> SerializedTreeStatus;
+using SerializedTreeStatus = std::vector<std::pair<uint16_t, uint8_t>>;
 
 /**
  * @brief buildSerializedStatusSnapshot can be used to create a buffer that can be stored