Cleanup

Author: JafarAbdi

CMakeLists.txt

@@ -12,13 +12,17 @@ find_package(behaviortree_cpp REQUIRED)
 find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
 find_package(pybind11_vendor REQUIRED)
 find_package(pybind11 REQUIRED)
+find_package(fmt REQUIRED)
 
 ament_python_install_package(behaviortree_py PACKAGE_DIR behaviortree_py)
 
 pybind11_add_module(behaviortree_py src/behaviortree_py.cpp)
 target_compile_features(behaviortree_py PRIVATE cxx_std_20)
-target_link_libraries(behaviortree_py
-                      PRIVATE behaviortree_cpp::behaviortree_cpp)
+target_link_libraries(behaviortree_py PRIVATE behaviortree_cpp::behaviortree_cpp
+                                              fmt::fmt)
+target_include_directories(
+  behaviortree_py PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+                          $<INSTALL_INTERFACE:include>)
 
 add_custom_command(
   TARGET behaviortree_py
@@ -28,6 +32,7 @@ add_custom_command(
   WORKING_DIRECTORY $<TARGET_FILE_DIR:behaviortree_py>
   USES_TERMINAL)
 
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 install(TARGETS behaviortree_py
         LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}/behaviortree_py)
 install(

examples/scripting.py

@@ -25,17 +25,17 @@
 def say_something_double(
     tree_node: bt.TreeNode,
 ) -> bt.NodeStatus:
-    print(tree_node.get_input_double("message"))
+    print(bt.get_input_double(tree_node, "message"))
     return bt.NodeStatus.SUCCESS
 
 
 def say_something(tree_node: bt.TreeNode) -> bt.NodeStatus:
-    print(tree_node.get_input_string("message"))
+    print(bt.get_input_string(tree_node, "message"))
     return bt.NodeStatus.SUCCESS
 
 
 def set_value(tree_node: bt.TreeNode) -> bt.NodeStatus:
-    if not (result := tree_node.set_output("value", 24.9)):
+    if not (result := bt.set_output(tree_node, "value", 24.9)):
         return bt.NodeStatus.FAILURE
     return bt.NodeStatus.SUCCESS
 

include/behaviortree_py/behaviortree_py.hpp

@@ -0,0 +1,35 @@
+#include <behaviortree_cpp/bt_factory.h>
+#include <behaviortree_cpp/tree_node.h>
+#include <fmt/compile.h>
+#include <pybind11/pybind11.h>
+
+template <typename T>
+void bind_port_methods(pybind11::module &m, const char *type_suffix) {
+  const std::string input_port =
+      fmt::format(FMT_COMPILE("input_port_{}"), type_suffix);
+  const std::string get_input =
+      fmt::format(FMT_COMPILE("get_input_{}"), type_suffix);
+  const std::string output_port =
+      fmt::format(FMT_COMPILE("output_port_{}"), type_suffix);
+
+  m.def(
+      input_port.c_str(),
+      [](const std::string &name, const std::string &description) {
+        return BT::InputPort<T>(name, description);
+      },
+      pybind11::arg("name"), pybind11::arg("description") = "");
+  m.def(
+      output_port.c_str(),
+      [](const std::string &name, const std::string &description) {
+        return BT::OutputPort<T>(name, description);
+      },
+      pybind11::arg("name"), pybind11::arg("description") = "");
+  m.def("set_output",
+        [](BT::TreeNode &tree, const std::string &key, const T &value) {
+          return tree.setOutput(key, value);
+        });
+  m.def(get_input.c_str(),
+        [](const BT::TreeNode &tree, const std::string &key) {
+          return tree.getInput<T>(key).value();
+        });
+}

package.xml

@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>behaviortree_cpp</depend>
+  <depend>fmt</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

src/behaviortree_py.cpp

@@ -16,6 +16,7 @@
 #include <behaviortree_cpp/loggers/bt_cout_logger.h>
 #include <behaviortree_cpp/loggers/groot2_publisher.h>
 #include <behaviortree_cpp/tree_node.h>
+#include <behaviortree_py/behaviortree_py.hpp>
 
 namespace py = pybind11;
 using namespace BT;
@@ -49,26 +50,7 @@ PYBIND11_MODULE(behaviortree_py, m) {
   py::class_<TreeNode, std::shared_ptr<TreeNode>>(m, "TreeNode")
       .def("name", &TreeNode::name)
       .def("status", &TreeNode::status)
-      .def("type", &TreeNode::type)
-      .def("get_input_string",
-           [](TreeNode *self, const std::string &key) {
-             return self->getInput<std::string>(key).value();
-           })
-      .def("get_input_int",
-           [](TreeNode *self, const std::string &key) {
-             return self->getInput<int>(key).value();
-           })
-      .def("get_input_double",
-           [](TreeNode *self, const std::string &key) {
-             return self->getInput<double>(key).value();
-           })
-      .def("set_output",
-           py::overload_cast<const std::string &, const std::string &>(
-               &TreeNode::setOutput<std::string>))
-      .def("set_output", py::overload_cast<const std::string &, const int &>(
-                             &TreeNode::setOutput<int>))
-      .def("set_output", py::overload_cast<const std::string &, const double &>(
-                             &TreeNode::setOutput<double>));
+      .def("type", &TreeNode::type);
 
   py::class_<BehaviorTreeFactory>(m, "BehaviorTreeFactory")
       .def(py::init<>())
@@ -144,40 +126,8 @@ PYBIND11_MODULE(behaviortree_py, m) {
       },
       py::arg("root_tree"));
 
-  m.def(
-       "input_port_int",
-       [](BT::StringView name, BT::StringView description) {
-         return BT::InputPort<int>(name, description);
-       },
-       py::arg("name"), py::arg("description") = "")
-      .def(
-          "input_port_double",
-          [](BT::StringView name, BT::StringView description) {
-            return BT::InputPort<double>(name, description);
-          },
-          py::arg("name"), py::arg("description") = "")
-      .def(
-          "input_port_string",
-          [](BT::StringView name, BT::StringView description) {
-            return BT::InputPort<std::string>(name, description);
-          },
-          py::arg("name"), py::arg("description") = "")
-      .def(
-          "output_port_int",
-          [](BT::StringView name, BT::StringView description) {
-            return BT::OutputPort<int>(name, description);
-          },
-          py::arg("name"), py::arg("description") = "")
-      .def(
-          "output_port_double",
-          [](BT::StringView name, BT::StringView description) {
-            return BT::OutputPort<double>(name, description);
-          },
-          py::arg("name"), py::arg("description") = "")
-      .def(
-          "output_port_string",
-          [](BT::StringView name, BT::StringView description) {
-            return BT::OutputPort<std::string>(name, description);
-          },
-          py::arg("name"), py::arg("description") = "");
+  bind_port_methods<int>(m, "int");
+  bind_port_methods<double>(m, "double");
+  bind_port_methods<std::string>(m, "string");
+  bind_port_methods<bool>(m, "bool");
 }