Merge branch 'master' into ros2

Davide Faconti · Davide Faconti · commit 658ffb3e3bcd · 2018-12-07T15:47:11.000+01:00
diff --git a/README.md b/README.md
@@ -32,6 +32,13 @@ If you are looking for a more fancy graphical user interface, check
 
 ![Groot screenshot](groot-screenshot.png)
 
+## Watch Groot and BehaviorTree.CPP in action
+
+Click on the following image to see a short video of how the C++ library and
+the graphic user interface are used to design and monitor a Behavior Tree.
+
+[![MOOD2Be](video_MOOD2Be.png)](https://vimeo.com/304651183)
+
 # How to compile
 
 The only (optional, but recommended) dependency of BehaviorTree.CPP is ZeroMQ.
diff --git a/conanfile.py b/conanfile.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+"""Conan recipe package for BehaviorTree.CPP
+"""
+from conans import ConanFile, CMake, tools
+
+
+class BehaviorTreeConan(ConanFile):
+    name = "BehaviorTree.CPP"
+    license = "MIT"
+    url = "https://github.com/BehaviorTree/BehaviorTree.CPP"
+    author = "Davide Faconti <davide.faconti@gmail.com>"
+    topics = ("conan", "behaviortree", "ai", "robotics", "games", "coordination")
+    description = "This C++ library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use and fast."
+    settings = "os", "compiler", "build_type", "arch"
+    options = {"shared": [True, False]}
+    default_options = {"shared": False}
+    generators = "cmake"
+    exports = "LICENSE"
+    exports_sources = ("cmake/*", "include/*", "src/*", "3rdparty/*", "CMakeLists.txt")
+
+    def requirements(self):
+
+        self.requires("cppzmq/4.3.0@bincrafters/stable")
+
+    def _configure_cmake(self):
+        """Create CMake instance and execute configure step
+        """
+        cmake = CMake(self)
+        cmake.definitions["BUILD_EXAMPLES"] = False
+        cmake.definitions["BUILD_UNIT_TESTS"] = False
+        cmake.configure()
+        return cmake
+
+    def build(self):
+        """Configure, build and install BehaviorTree using CMake.
+        """
+        tools.replace_in_file("CMakeLists.txt",
+                              "project(behaviortree_cpp)",
+                              """project(behaviortree_cpp)
+                              include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
+                              conan_basic_setup()""")
+        cmake = self._configure_cmake()
+        cmake.build()
+
+    def package(self):
+        """Copy BehaviorTree artifacts to package folder
+        """
+        self.copy(pattern="LICENSE", dst="licenses")
+        cmake = self._configure_cmake()
+        cmake.install()
+
+    def package_info(self):
+        """Collect built libraries names and solve pthread path.
+        """
+        self.cpp_info.libs = tools.collect_libs(self)
+        if self.settings.os == "Linux":
+            self.cpp_info.libs.append("pthread")
diff --git a/include/behaviortree_cpp/blackboard/blackboard.h b/include/behaviortree_cpp/blackboard/blackboard.h
@@ -8,10 +8,7 @@
 #include <unordered_map>
 
 #include "behaviortree_cpp/blackboard/safe_any.hpp"
-#include "behaviortree_cpp/optional.hpp"
 
-template <typename T>
-T convertFromString(const std::string& str);
 
 namespace BT
 {
@@ -74,18 +71,27 @@ class Blackboard
             return false;
         }
 
-        if (!std::is_same<std::string, T>::value &&
-            (val->type() == typeid(SafeAny::SimpleString) || val->type() == typeid(std::string)))
+        value = val->cast<T>();
+        return true;
+    }
+
+    template <typename T>
+    bool get(const std::string& key, const SafeAny::Any* value) const
+    {
+        if (!impl_)
         {
-            value = convertFromString<T>(val->cast<std::string>());
+            return false;
         }
-        else
+        const SafeAny::Any* val = impl_->get(key);
+        if (!val)
         {
-            value = val->cast<T>();
+            return false;
         }
+        value = val;
         return true;
     }
 
+
     template <typename T>
     T get(const std::string& key) const
     {
diff --git a/include/behaviortree_cpp/tree_node.h b/include/behaviortree_cpp/tree_node.h
@@ -147,7 +147,20 @@ class TreeNode
             if ( bb_ && bb_pattern)
             {
                 const std::string stripped_key(&str[2], str.size() - 3);
-                bool found = bb_->get(stripped_key, destination);
+                const SafeAny::Any* val;
+                bool found = bb_->get(stripped_key, val);
+                if( found )
+                {
+                    if( std::is_same<T,std::string>::value == false &&
+                        (val->type() == typeid (std::string) ||
+                         val->type() == typeid (SafeAny::SimpleString)))
+                    {
+                        destination = convertFromString<T>(val->cast<std::string>());
+                    }
+                    else{
+                        destination = val->cast<T>();
+                    }
+                }
                 return found;
             }
             else{
diff --git a/src/tree.cpp b/src/tree.cpp
diff --git a/video_MOOD2Be.png b/video_MOOD2Be.png

Original file line number	Diff line number	Diff line change
`@@ -8,10 +8,7 @@`
`8`	`8`	`#include <unordered_map>`
`9`	`9`
`10`	`10`	`#include "behaviortree_cpp/blackboard/safe_any.hpp"`
`11`		`-#include "behaviortree_cpp/optional.hpp"`
`12`	`11`
`13`		`-template <typename T>`
`14`		`-T convertFromString(const std::string& str);`
`15`	`12`
`16`	`13`	`namespace BT`
`17`	`14`	`{`
`@@ -74,18 +71,27 @@ class Blackboard`
`74`	`71`	`return false;`
`75`	`72`	`}`
`76`	`73`
`77`		`- if (!std::is_same<std::string, T>::value &&`
`78`		`- (val->type() == typeid(SafeAny::SimpleString) \|\| val->type() == typeid(std::string)))`
	`74`	`+ value = val->cast<T>();`
	`75`	`+ return true;`
	`76`	`+ }`
	`77`	`+`
	`78`	`+ template <typename T>`
	`79`	`+ bool get(const std::string& key, const SafeAny::Any* value) const`
	`80`	`+ {`
	`81`	`+ if (!impl_)`
`79`	`82`	`{`
`80`		`- value = convertFromString<T>(val->cast<std::string>());`
	`83`	`+ return false;`
`81`	`84`	`}`
`82`		`- else`
	`85`	`+ const SafeAny::Any* val = impl_->get(key);`
	`86`	`+ if (!val)`
`83`	`87`	`{`
`84`		`- value = val->cast<T>();`
	`88`	`+ return false;`
`85`	`89`	`}`
	`90`	`+ value = val;`
`86`	`91`	`return true;`
`87`	`92`	`}`
`88`	`93`
	`94`	`+`
`89`	`95`	`template <typename T>`
`90`	`96`	`T get(const std::string& key) const`
`91`	`97`	`{`