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experimental integration of Switch ControlNode
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‎CMakeLists.txt

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@@ -152,6 +152,7 @@ list(APPEND BT_SOURCE
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src/controls/reactive_fallback.cpp
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src/controls/sequence_node.cpp
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src/controls/sequence_star_node.cpp
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src/controls/switch_node.cpp
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src/loggers/bt_cout_logger.cpp
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src/loggers/bt_file_logger.cpp

‎include/behaviortree_cpp_v3/behavior_tree.h

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#include "behaviortree_cpp_v3/controls/fallback_node.h"
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#include "behaviortree_cpp_v3/controls/sequence_node.h"
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#include "behaviortree_cpp_v3/controls/sequence_star_node.h"
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#include "behaviortree_cpp_v3/controls/switch_node.h"
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#include "behaviortree_cpp_v3/action_node.h"
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#include "behaviortree_cpp_v3/condition_node.h"

‎include/behaviortree_cpp_v3/controls/switch_node.h

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/* Copyright (C) 2019-2020 Davide Faconti - All Rights Reserved
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
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* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
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* and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
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* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#ifndef SWITCH_NODE_H
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#define SWITCH_NODE_H
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#include "behaviortree_cpp_v3/control_node.h"
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namespace BT
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{
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/**
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* @brief The SwitchNode
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*
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*/
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template <size_t NUM_CASES>
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class SwitchNode : public ControlNode
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{
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public:
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SwitchNode(const std::string& name, const BT::NodeConfiguration& config)
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: ControlNode::ControlNode(name, config ),
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running_child_(-1)
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{
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setRegistrationID("Switch");
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}
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virtual ~SwitchNode() override = default;
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void halt() override
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{
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running_child_ = -1;
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ControlNode::halt();
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}
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static PortsList providedPorts()
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{
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PortsList ports;
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ports.insert( BT::InputPort<std::string>("variable") );
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for(unsigned i=0; i < NUM_CASES; i++)
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{
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char case_str[20];
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sprintf(case_str, "case_%d", i+1);
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ports.insert( BT::InputPort<std::string>(case_str) );
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}
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return ports;
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}
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private:
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int running_child_;
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virtual BT::NodeStatus tick() override;
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};
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template<size_t NUM_CASES> inline
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NodeStatus SwitchNode<NUM_CASES>::tick()
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{
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if( childrenCount() != NUM_CASES+1)
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{
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throw LogicError("Wrong number of children in SwitchNode; "
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"must be (num_cases + default)");
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}
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std::string variable;
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std::string value;
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int child_index = NUM_CASES; // default index;
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if (getInput("variable", variable)) // no variable? jump to default
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{
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// check each case until you find a match
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for (unsigned index = 0; index < NUM_CASES; ++index)
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{
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char case_str[20];
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sprintf(case_str, "case_%d", index+1);
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if (getInput(case_str, value) && variable == value)
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{
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child_index = index;
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break;
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}
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}
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}
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// if another one was running earlier, halt it
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if( running_child_ != -1 && running_child_ != child_index)
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{
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halt();
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}
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NodeStatus ret = children_nodes_[child_index]->executeTick();
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if( ret == NodeStatus::RUNNING )
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{
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running_child_ = child_index;
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}
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else{
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running_child_ = -1;
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}
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return ret;
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}
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}
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#endif // SWITCH_NODE_H

‎src/bt_factory.cpp

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@@ -49,6 +49,12 @@ BehaviorTreeFactory::BehaviorTreeFactory()
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registerNodeType<BlackboardPreconditionNode<double>>("BlackboardCheckDouble");
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registerNodeType<BlackboardPreconditionNode<std::string>>("BlackboardCheckString");
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registerNodeType<SwitchNode<2>>("Switch2");
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registerNodeType<SwitchNode<3>>("Switch3");
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registerNodeType<SwitchNode<4>>("Switch4");
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registerNodeType<SwitchNode<5>>("Switch5");
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registerNodeType<SwitchNode<6>>("Switch6");
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for( const auto& it: builders_)
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{
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builtin_IDs_.insert( it.first );

‎src/controls/switch_node.cpp

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/* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
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* Copyright (C) 2018-2020 Davide Faconti, Eurecat - All Rights Reserved
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
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* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
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* and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
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* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include "behaviortree_cpp_v3/controls/switch_node.h"
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#include "behaviortree_cpp_v3/action_node.h"

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