exampleの修正とCIにexampleを追加

Kotakku · Feb 15, 2024 · 90cbf93 · 90cbf93
1 parent 396a4f1
commit 90cbf93
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Showing 5 changed files with 18 additions and 18 deletions.
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -15,6 +15,6 @@ jobs:
         working-directory: ${{github.workspace}}
         run: |
           JOBS=$(($(grep cpu.cores /proc/cpuinfo | sort -u | sed 's/[^0-9]//g') + 1))
-          cmake -S . -B build -DBUILD_EXAMPLES=OFF
+          cmake -S . -B build -DBUILD_EXAMPLES=ON
           cmake --build build -j${JOBS}
           sudo cmake --install build
diff --git a/examples/example_dynamic_type_builder.cpp b/examples/example_dynamic_type_builder.cpp
@@ -29,27 +29,27 @@ int main()
     builder.registerActionNode<SayText>("SayText");
 
     auto tree = builder
-        .control_sequence()
+        .sequence()
             .action("SayText", {{"text", "Hello World!"}})
 
             .action("SayText", {{"text", "test1"}})
             // if(true) { SayText("True"); } else { SayText("False"); }
-            .control_if_then_else()
+            .if_then_else()
                 .always_success()
                 .action("SayText", {{"text", "True"}})
                 .action("SayText", {{"text", "False"}})
-            .control_end()
+            .end()
 
             .action("SayText", {{"text", "test2"}})
 
             // if(!true) { SayText("True"); } else { SayText("False"); }
-            .control_if_then_else()
-                .decorator_inverter()
+            .if_then_else()
+                .inverter()
                     .always_success()
                 .action("SayText", {{"text", "True"}})
                 .action("SayText", {{"text", "False"}})
-            .control_end()
-        .control_end()
+            .end()
+        .end()
         .build();
 
     tree->rootTick();

diff --git a/examples/example_running_action.cpp b/examples/example_running_action.cpp
@@ -61,11 +61,11 @@ int main()
     BT::Builder builder(bb);
 
     auto tree = builder
-        .control_sequence()
+        .sequence()
             .action<WaitNode>({{"count_num", BT::toStr(5)}})
 
             .action<SayText>({{"text", "Hello World!"}})
-        .control_end()
+        .end()
         .build();
 
     for(size_t i = 0; i < 5; i++)

diff --git a/examples/example_static_type_builder.cpp b/examples/example_static_type_builder.cpp
@@ -27,27 +27,27 @@ int main()
     BT::Builder builder(bb);
 
     auto tree = builder
-        .control_sequence()
+        .sequence()
             .action<SayText>({{"text", "Hello World!"}})
 
             .action<SayText>({{"text", "test1"}})
             // if(true) { SayText("True"); } else { SayText("False"); }
-            .control_if_then_else()
+            .if_then_else()
                 .always_success()
                 .action<SayText>({{"text", "True"}})
                 .action<SayText>({{"text", "False"}})
-            .control_end()
+            .end()
 
             .action<SayText>({{"text", "test2"}})
 
             // if(!true) { SayText("True"); } else { SayText("False"); }
-            .control_if_then_else()
-                .decorator_inverter()
+            .if_then_else()
+                .inverter()
                     .always_success()
                 .action<SayText>({{"text", "True"}})
                 .action<SayText>({{"text", "False"}})
-            .control_end()
-        .control_end()
+            .end()
+        .end()
         .build();
 
     tree->rootTick();

diff --git a/include/micro_behaviortree_cpp/micro_behaviortree_cpp.hpp b/include/micro_behaviortree_cpp/micro_behaviortree_cpp.hpp
@@ -443,7 +443,7 @@ class Builder
                 {
                     control(name, ports);
                     createTree(node, trees);
-                    control_end();
+                    end();
                 }
 
                 if (type == "Decorator")