call setRegistrationName() for built-in Nodes

Davide Faconti · Davide Faconti · commit 58ec28f4c9f8 · 2018-12-14T14:52:38.000+01:00
The methos is called by BehaviorTreefactory, therefore it
registrationName is empty if trees are created programmatically.
diff --git a/include/behaviortree_cpp/decorators/blackboard_precondition.h b/include/behaviortree_cpp/decorators/blackboard_precondition.h
@@ -24,6 +24,12 @@ class BlackboardPreconditionNode : public DecoratorNode
     BlackboardPreconditionNode(const std::string& name, const NodeParameters& params)
       : DecoratorNode(name, params)
     {
+        if( std::is_same<T,int>::value)
+            setRegistrationName("BlackboardCheckInt");
+        else if( std::is_same<T,double>::value)
+            setRegistrationName("BlackboardCheckDouble");
+        else if( std::is_same<T,std::string>::value)
+            setRegistrationName("BlackboardCheckString");
     }
 
     virtual ~BlackboardPreconditionNode() override = default;
diff --git a/include/behaviortree_cpp/decorators/force_failure_node.h b/include/behaviortree_cpp/decorators/force_failure_node.h
@@ -22,6 +22,7 @@ class ForceFailureDecorator : public DecoratorNode
   public:
     ForceFailureDecorator(const std::string& name) : DecoratorNode(name, NodeParameters())
     {
+        setRegistrationName("ForceFailure");
     }
 
   private:
diff --git a/include/behaviortree_cpp/decorators/force_success_node.h b/include/behaviortree_cpp/decorators/force_success_node.h
@@ -22,6 +22,7 @@ class ForceSuccessDecorator : public DecoratorNode
   public:
     ForceSuccessDecorator(const std::string& name) : DecoratorNode(name, NodeParameters())
     {
+        setRegistrationName("ForceSuccess");
     }
 
   private:
diff --git a/include/behaviortree_cpp/decorators/subtree_node.h b/include/behaviortree_cpp/decorators/subtree_node.h
@@ -8,9 +8,7 @@ namespace BT
 class DecoratorSubtreeNode : public DecoratorNode
 {
   public:
-    DecoratorSubtreeNode(const std::string& name) : DecoratorNode(name, NodeParameters())
-    {
-    }
+    DecoratorSubtreeNode(const std::string& name);
 
     virtual ~DecoratorSubtreeNode() override = default;
 
diff --git a/src/controls/fallback_node.cpp b/src/controls/fallback_node.cpp
@@ -18,6 +18,7 @@ namespace BT
 FallbackNode::FallbackNode(const std::string& name)
   : ControlNode::ControlNode(name, NodeParameters())
 {
+    setRegistrationName("Fallback");
 }
 
 NodeStatus FallbackNode::tick()
diff --git a/src/controls/fallback_star_node.cpp b/src/controls/fallback_star_node.cpp
@@ -18,6 +18,7 @@ namespace BT
 FallbackStarNode::FallbackStarNode(const std::string& name)
   : ControlNode::ControlNode(name, {}), current_child_idx_(0)
 {
+    setRegistrationName("FallbackStar");
 }
 
 NodeStatus FallbackStarNode::tick()
diff --git a/src/controls/parallel_node.cpp b/src/controls/parallel_node.cpp
@@ -23,6 +23,7 @@ ParallelNode::ParallelNode(const std::string& name, int threshold)
     threshold_(threshold),
     read_parameter_from_blackboard_(false)
 {
+    setRegistrationName("Parallel");
 }
 
 ParallelNode::ParallelNode(const std::string &name,
diff --git a/src/controls/sequence_node.cpp b/src/controls/sequence_node.cpp
@@ -18,6 +18,7 @@ namespace BT
 SequenceNode::SequenceNode(const std::string& name)
   : ControlNode::ControlNode(name, NodeParameters())
 {
+    setRegistrationName("Sequence");
 }
 
 NodeStatus SequenceNode::tick()
diff --git a/src/controls/sequence_star_node.cpp b/src/controls/sequence_star_node.cpp
@@ -24,6 +24,7 @@ SequenceStarNode::SequenceStarNode(const std::string& name, bool reset_on_failur
   , reset_on_failure_(reset_on_failure)
   , read_parameter_from_blackboard_(false)
 {
+    setRegistrationName("SequenceStar");
 }
 
 SequenceStarNode::SequenceStarNode(const std::string& name, const NodeParameters& params)
diff --git a/src/decorators/inverter_node.cpp b/src/decorators/inverter_node.cpp
@@ -17,6 +17,7 @@ namespace BT
 {
 InverterNode::InverterNode(const std::string& name) : DecoratorNode(name, NodeParameters())
 {
+    setRegistrationName("Inverter");
 }
 
 NodeStatus InverterNode::tick()
diff --git a/src/decorators/repeat_node.cpp b/src/decorators/repeat_node.cpp
@@ -23,6 +23,7 @@ RepeatNode::RepeatNode(const std::string& name, unsigned int NTries)
     try_index_(0),
     read_parameter_from_blackboard_(false)
 {
+    setRegistrationName("Repeat");
 }
 
 RepeatNode::RepeatNode(const std::string& name, const NodeParameters& params)
diff --git a/src/decorators/retry_node.cpp b/src/decorators/retry_node.cpp
@@ -23,6 +23,7 @@ RetryNode::RetryNode(const std::string& name, unsigned int NTries)
     try_index_(0),
     read_parameter_from_blackboard_(false)
 {
+    setRegistrationName("RetryUntilSuccesful");
 }
 
 RetryNode::RetryNode(const std::string& name, const NodeParameters& params)
diff --git a/src/decorators/subtree_node.cpp b/src/decorators/subtree_node.cpp
@@ -1,6 +1,12 @@
 #include "behaviortree_cpp/decorators/subtree_node.h"
 
 
+BT::DecoratorSubtreeNode::DecoratorSubtreeNode(const std::string &name) :
+  DecoratorNode(name, NodeParameters())
+{
+    setRegistrationName("SubTree");
+}
+
 BT::NodeStatus BT::DecoratorSubtreeNode::tick()
 {
     NodeStatus prev_status = status();
diff --git a/src/decorators/timeout_node.cpp b/src/decorators/timeout_node.cpp
@@ -17,6 +17,7 @@ TimeoutNode::TimeoutNode(const std::string& name, unsigned milliseconds)
   : DecoratorNode(name, {}), child_halted_(false), msec_(milliseconds),
     read_parameter_from_blackboard_(false)
 {
+    setRegistrationName("Timeout");
 }
 
 TimeoutNode::TimeoutNode(const std::string& name, const BT::NodeParameters& params)

Original file line number	Diff line number	Diff line change
`@@ -24,6 +24,12 @@ class BlackboardPreconditionNode : public DecoratorNode`
`24`	`24`	`BlackboardPreconditionNode(const std::string& name, const NodeParameters& params)`
`25`	`25`	`: DecoratorNode(name, params)`
`26`	`26`	`{`
	`27`	`+ if( std::is_same<T,int>::value)`
	`28`	`+ setRegistrationName("BlackboardCheckInt");`
	`29`	`+ else if( std::is_same<T,double>::value)`
	`30`	`+ setRegistrationName("BlackboardCheckDouble");`
	`31`	`+ else if( std::is_same<T,std::string>::value)`
	`32`	`+ setRegistrationName("BlackboardCheckString");`
`27`	`33`	`}`
`28`	`34`
`29`	`35`	`virtual ~BlackboardPreconditionNode() override = default;`
Original file line number	Diff line number	Diff line change
`@@ -22,6 +22,7 @@ class ForceFailureDecorator : public DecoratorNode`
`22`	`22`	`public:`
`23`	`23`	`ForceFailureDecorator(const std::string& name) : DecoratorNode(name, NodeParameters())`
`24`	`24`	`{`
	`25`	`+ setRegistrationName("ForceFailure");`
`25`	`26`	`}`
`26`	`27`
`27`	`28`	`private:`
Original file line number	Diff line number	Diff line change
`@@ -22,6 +22,7 @@ class ForceSuccessDecorator : public DecoratorNode`
`22`	`22`	`public:`
`23`	`23`	`ForceSuccessDecorator(const std::string& name) : DecoratorNode(name, NodeParameters())`
`24`	`24`	`{`
	`25`	`+ setRegistrationName("ForceSuccess");`
`25`	`26`	`}`
`26`	`27`
`27`	`28`	`private:`
Original file line number	Diff line number	Diff line change
`@@ -8,9 +8,7 @@ namespace BT`
`8`	`8`	`class DecoratorSubtreeNode : public DecoratorNode`
`9`	`9`	`{`
`10`	`10`	`public:`
`11`		`- DecoratorSubtreeNode(const std::string& name) : DecoratorNode(name, NodeParameters())`
`12`		`- {`
`13`		`- }`
	`11`	`+ DecoratorSubtreeNode(const std::string& name);`
`14`	`12`
`15`	`13`	`virtual ~DecoratorSubtreeNode() override = default;`
`16`	`14`
Original file line number	Diff line number	Diff line change
`@@ -18,6 +18,7 @@ namespace BT`
`18`	`18`	`FallbackNode::FallbackNode(const std::string& name)`
`19`	`19`	`: ControlNode::ControlNode(name, NodeParameters())`
`20`	`20`	`{`
	`21`	`+ setRegistrationName("Fallback");`
`21`	`22`	`}`
`22`	`23`
`23`	`24`	`NodeStatus FallbackNode::tick()`
Original file line number	Diff line number	Diff line change
`@@ -23,6 +23,7 @@ ParallelNode::ParallelNode(const std::string& name, int threshold)`
`23`	`23`	`threshold_(threshold),`
`24`	`24`	`read_parameter_from_blackboard_(false)`
`25`	`25`	`{`
	`26`	`+ setRegistrationName("Parallel");`
`26`	`27`	`}`
`27`	`28`
`28`	`29`	`ParallelNode::ParallelNode(const std::string &name,`
Original file line number	Diff line number	Diff line change
`@@ -24,6 +24,7 @@ SequenceStarNode::SequenceStarNode(const std::string& name, bool reset_on_failur`
`24`	`24`	`, reset_on_failure_(reset_on_failure)`
`25`	`25`	`, read_parameter_from_blackboard_(false)`
`26`	`26`	`{`
	`27`	`+ setRegistrationName("SequenceStar");`
`27`	`28`	`}`
`28`	`29`
`29`	`30`	`SequenceStarNode::SequenceStarNode(const std::string& name, const NodeParameters& params)`
Original file line number	Diff line number	Diff line change
`@@ -17,6 +17,7 @@ namespace BT`
`17`	`17`	`{`
`18`	`18`	`InverterNode::InverterNode(const std::string& name) : DecoratorNode(name, NodeParameters())`
`19`	`19`	`{`
	`20`	`+ setRegistrationName("Inverter");`
`20`	`21`	`}`
`21`	`22`
`22`	`23`	`NodeStatus InverterNode::tick()`