t05_crossdoor.cpp

#include "crossdoor_nodes.h"
#include "behaviortree_cpp/bt_factory.h"

/** This is a more complex example that uses Fallback,
 * Decorators and Subtrees
 *
 * For the sake of simplicity, we aren't focusing on ports remapping to the time being.
 */

// clang-format off

static const char* xml_text = R"(
<root BTCPP_format="4">

    <BehaviorTree ID="MainTree">
        <Sequence>
            <Fallback>
                <Inverter>
                    <IsDoorClosed/>
                </Inverter>
                <SubTree ID="DoorClosed"/>
            </Fallback>
            <PassThroughDoor/>
        </Sequence>
    </BehaviorTree>

    <BehaviorTree ID="DoorClosed">
        <Fallback>
            <OpenDoor/>
            <RetryUntilSuccessful num_attempts="5">
                <PickLock/>
            </RetryUntilSuccessful>
            <SmashDoor/>
        </Fallback>
    </BehaviorTree>

</root>
 )";

// clang-format on

int main()
{
  BT::BehaviorTreeFactory factory;

  CrossDoor cross_door;
  cross_door.registerNodes(factory);

  // In this example a single XML contains multiple <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());

  // Tick multiple times, until either FAILURE of SUCCESS is returned
  tree.tickWhileRunning();

  return 0;
}