json convertion changed and

Author: facontidavide

examples/CMakeLists.txt

@@ -38,6 +38,7 @@ CompileExample("ex02_runtime_ports")
 CompileExample("ex04_waypoints")
 CompileExample("ex05_subtree_model")
 CompileExample("ex06_access_by_ptr")
+CompileExample("ex07_blackboard_backup")
 
 CompileExample("t13_plugin_executor")
 

examples/ex07_blackboard_backup.cpp

@@ -0,0 +1,66 @@
+#include "behaviortree_cpp/bt_factory.h"
+#include "dummy_nodes.h"
+
+using namespace BT;
+
+// clang-format off
+static const char* xml_tree = R"(
+<root BTCPP_format="4">
+  <BehaviorTree ID="MainTree">
+    <Sequence>
+      <Script code="val_A:= 'john' "/>
+      <Script code="val_B:= 42 "/>
+      <SaySomething message="{val_A}" />
+      <SaySomething message="hello world" />
+      <SubTree ID="Sub" val="{val_A}" _autoremap="true" />
+      <SaySomething message="{reply}" />
+    </Sequence>
+  </BehaviorTree>
+  <BehaviorTree ID="Sub">
+    <Sequence>
+      <SaySomething message="{val}" />
+      <SaySomething message="{val_B}" />
+      <Script code="reply:= 'done' "/>
+    </Sequence>
+  </BehaviorTree>
+</root>
+ )";
+
+// clang-format on
+
+int main()
+{
+  BehaviorTreeFactory factory;
+  factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
+  factory.registerBehaviorTreeFromText(xml_tree);
+
+  auto tree = factory.createTree("MainTree");
+
+  // We want to create a memory of the blackboard in memory.
+  // This is conveninet when we want to reset its state to the
+  // original one.
+  // It is certainly more efficient than destroying and creating the tree again,
+  // in many casess.
+
+  const auto backup_before_tick = BlackboardBackup(tree);
+  tree.tickWhileRunning();
+
+  // Restore the original status of the blackboard
+  BlackboardRestore(backup_before_tick, tree);
+  tree.tickWhileRunning();
+
+  // Alternatively, we may want to save he values of the element in the blackboard
+  // to file, to restore them again. We use JSON serialization for that.
+  nlohmann::json json_after_tick = ExportTreeToJSON(tree);
+
+  // The JSOn object can be saved to file. See https://github.com/nlohmann/json
+  // for details. For the time being, we just print it in the console
+
+  std::cout << "--- blackboard serialized as JSON: ----\n"
+            << json_after_tick.dump(2) << std::endl;
+
+  // We can restore the values of the blackboards using the JSON
+  ImportTreeFromJSON(json_after_tick, tree);
+
+  return 0;
+}

examples/t12_groot_howto.cpp

@@ -10,19 +10,21 @@
  *  But this time we also show how to connect
  */
 
-// A custom structuree that I want to visualize in Groot2
+// A custom struct  that I want to visualize in Groot2
 struct Position2D
 {
   double x;
   double y;
 };
 
-// Allows Position2D to be visualized in Groot2
-// You still need BT::RegisterJsonDefinition<Position2D>(PositionToJson)
-void PositionToJson(nlohmann::json& j, const Position2D& p)
+// This macro will generate the code that is needed to convert
+// the object to/from JSON.
+// You still need to call BT::RegisterJsonDefinition<Position2D>()
+// in main()
+BT_JSON_CONVERTER(Position2D, pos)
 {
-  j["x"] = p.x;
-  j["y"] = p.y;
+  add_field("x", &pos.x);
+  add_field("y", &pos.y);
 }
 
 // Simple Action that updates an instance of Position2D in the blackboard
@@ -101,7 +103,7 @@ int main()
   factory.registerBehaviorTreeFromText(xml_text);
 
   // Add this to allow Groot2 to visualize your custom type
-  BT::RegisterJsonDefinition<Position2D>(PositionToJson);
+  BT::RegisterJsonDefinition<Position2D>();
 
   auto tree = factory.createTree("MainTree");
 

examples/t12_groot_howto.cpp.orig

@@ -0,0 +1,141 @@
+#include "behaviortree_cpp/loggers/bt_file_logger_v2.h"
+#include "crossdoor_nodes.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/loggers/groot2_publisher.h"
+#include "behaviortree_cpp/loggers/bt_sqlite_logger.h"
+#include "behaviortree_cpp/xml_parsing.h"
+#include "behaviortree_cpp/json_export.h"
+
+/** We are using the same example in Tutorial 5,
+ *  But this time we also show how to connect
+ */
+
+<<<<<<< HEAD
+// A custom structuree that I want to visualize in Groot2
+=======
+// A custom struct  that I want to visualize in Groot2
+>>>>>>> 8f94d2c (json conversions)
+struct Position2D
+{
+  double x;
+  double y;
+};
+
+// This macro will generate the code that is needed to convert
+// the object to/from JSON.
+// You still need to call BT::RegisterJsonDefinition<Position2D>()
+// in main()
+BT_JSON_CONVERTER(Position2D, pos)
+{
+  add_field("x", &pos.x);
+  add_field("y", &pos.y);
+}
+
+// Simple Action that updates an instance of Position2D in the blackboard
+class UpdatePosition : public BT::SyncActionNode
+{
+public:
+  UpdatePosition(const std::string& name, const BT::NodeConfig& config)
+    : BT::SyncActionNode(name, config)
+  {}
+
+  BT::NodeStatus tick() override
+  {
+    _pos.x += 0.2;
+    _pos.y += 0.1;
+    setOutput("pos", _pos);
+    return BT::NodeStatus::SUCCESS;
+  }
+
+  static BT::PortsList providedPorts()
+  {
+    return { BT::OutputPort<Position2D>("pos") };
+  }
+
+private:
+  Position2D _pos = { 0, 0 };
+};
+
+// clang-format off
+
+static const char* xml_text = R"(
+<root BTCPP_format="4">
+
+  <BehaviorTree ID="MainTree">
+    <Sequence>
+      <Script code="door_open:=false" />
+      <UpdatePosition pos="{pos_2D}" />
+      <Fallback>
+        <Inverter>
+          <IsDoorClosed/>
+        </Inverter>
+        <SubTree ID="DoorClosed" _autoremap="true" door_open="{door_open}"/>
+      </Fallback>
+      <PassThroughDoor/>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="DoorClosed">
+    <Fallback name="tryOpen" _onSuccess="door_open:=true">
+      <OpenDoor/>
+        <RetryUntilSuccessful num_attempts="5">
+          <PickLock/>
+        </RetryUntilSuccessful>
+      <SmashDoor/>
+    </Fallback>
+  </BehaviorTree>
+
+</root>
+ )";
+
+// clang-format on
+
+int main()
+{
+  BT::BehaviorTreeFactory factory;
+
+  // Nodes registration, as usual
+  CrossDoor cross_door;
+  cross_door.registerNodes(factory);
+  factory.registerNodeType<UpdatePosition>("UpdatePosition");
+
+  // Groot2 editor requires a model of your registered Nodes.
+  // You don't need to write that by hand, it can be automatically
+  // generated using the following command.
+  std::string xml_models = BT::writeTreeNodesModelXML(factory);
+
+  factory.registerBehaviorTreeFromText(xml_text);
+
+  // Add this to allow Groot2 to visualize your custom type
+  BT::RegisterJsonDefinition<Position2D>();
+
+  auto tree = factory.createTree("MainTree");
+
+  std::cout << "----------- XML file  ----------\n"
+            << BT::WriteTreeToXML(tree, false, false)
+            << "--------------------------------\n";
+
+  // Connect the Groot2Publisher. This will allow Groot2 to
+  // get the tree and poll status updates.
+  const unsigned port = 1667;
+  BT::Groot2Publisher publisher(tree, port);
+
+  // Add two more loggers, to save the transitions into a file.
+  // Both formats are compatible with Groot2
+
+  // Lightweight serialization
+  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.db3", append_to_database);
+
+  while(1)
+  {
+    std::cout << "Start" << std::endl;
+    cross_door.reset();
+    tree.tickWhileRunning();
+    std::this_thread::sleep_for(std::chrono::milliseconds(2000));
+  }
+
+  return 0;
+}

include/behaviortree_cpp/basic_types.h

@@ -58,24 +58,74 @@ enum class PortDirection
 
 using StringView = std::string_view;
 
+bool StartWith(StringView str, StringView prefix);
+
 // vector of key/value pairs
 using KeyValueVector = std::vector<std::pair<std::string, std::string>>;
 
+/** Usage: given a function/method like this:
+ *
+ *     Expected<double> getAnswer();
+ *
+ * User code can check result and error message like this:
+ *
+ *     auto res = getAnswer();
+ *     if( res )
+ *     {
+ *         std::cout << "answer was: " << res.value() << std::endl;
+ *     }
+ *     else{
+ *         std::cerr << "failed to get the answer: " << res.error() << std::endl;
+ *     }
+ *
+ * */
+template <typename T>
+using Expected = nonstd::expected<T, std::string>;
+
 struct AnyTypeAllowed
 {
 };
 
+/**
+ * @brief convertFromJSON will parse a json string and use JsonExporter
+ * to convert its content to a given type. It will work only if
+ * the type was previously registered. May throw if it fails.
+ *
+ * @param json_text a valid JSON string
+ * @param type you must specify the typeid()
+ * @return the object, wrapped in Any.
+ */
+[[nodiscard]] Any convertFromJSON(StringView json_text, std::type_index type);
+
+/// Same as the non template version, but with automatic casting
+template <typename T>
+[[nodiscard]] inline T convertFromJSON(StringView str)
+{
+  return convertFromJSON(str, typeid(T)).cast<T>();
+}
+
 /**
  * convertFromString is used to convert a string into a custom type.
  *
  * This function is invoked under the hood by TreeNode::getInput(), but only when the
  * input port contains a string.
  *
- * If you have a custom type, you need to implement the corresponding template specialization.
+ * If you have a custom type, you need to implement the corresponding
+ * template specialization.
+ *
+ * If the string starts with the prefix "json:", it will
+ * fall back to convertFromJSON()
  */
 template <typename T>
-[[nodiscard]] inline T convertFromString(StringView /*str*/)
+[[nodiscard]] inline T convertFromString(StringView str)
 {
+  // if string starts with "json:{", try to parse it as json
+  if(StartWith(str, "json:"))
+  {
+    str.remove_prefix(5);
+    return convertFromJSON<T>(str);
+  }
+
   auto type_name = BT::demangle(typeid(T));
 
   std::cerr << "You (maybe indirectly) called BT::convertFromString() for type ["
@@ -171,6 +221,14 @@ constexpr bool IsConvertibleToString()
          std::is_convertible_v<T, std::string_view>;
 }
 
+Expected<std::string> toJsonString(const Any& value);
+
+/**
+ * @brief toStr is the reverse operation of convertFromString.
+ *
+ * If T is a custom type and there is no template specialization,
+ * it will try to fall back to toJsonString()
+ */
 template <typename T>
 [[nodiscard]] std::string toStr(const T& value)
 {
@@ -180,6 +238,11 @@ template <typename T>
   }
   else if constexpr(!std::is_arithmetic_v<T>)
   {
+    if(auto str = toJsonString(Any(value)))
+    {
+      return *str;
+    }
+
     throw LogicError(StrCat("Function BT::toStr<T>() not specialized for type [",
                             BT::demangle(typeid(T)), "]"));
   }
@@ -225,25 +288,6 @@ using enable_if = typename std::enable_if<Predicate::value>::type*;
 template <typename Predicate>
 using enable_if_not = typename std::enable_if<!Predicate::value>::type*;
 
-/** Usage: given a function/method like this:
- *
- *     Expected<double> getAnswer();
- *
- * User code can check result and error message like this:
- *
- *     auto res = getAnswer();
- *     if( res )
- *     {
- *         std::cout << "answer was: " << res.value() << std::endl;
- *     }
- *     else{
- *         std::cerr << "failed to get the answer: " << res.error() << std::endl;
- *     }
- *
- * */
-template <typename T>
-using Expected = nonstd::expected<T, std::string>;
-
 #ifdef USE_BTCPP3_OLD_NAMES
 // note: we also use the name Optional instead of expected because it is more intuitive
 // for users that are not up to date with "modern" C++