Read description from xml

uml-robotics · Apr 12, 2024 · 81ee737 · 81ee737
1 parent dbf9733
commit 81ee737
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Showing 7 changed files with 20 additions and 14 deletions.
diff --git a/include/behaviortree_cpp/bt_factory.h b/include/behaviortree_cpp/bt_factory.h
@@ -360,7 +360,7 @@ class BehaviorTreeFactory
      * @return         new node.
      */
   [[nodiscard]] std::unique_ptr<TreeNode> instantiateTreeNode(
-      const std::string& name, const std::string& ID, const NodeConfig& config) const;
+      const std::string& name, const std::string& ID, const std::string& description, const NodeConfig& config) const;
 
   /** registerNodeType where you explicitly pass the list of ports.
    *  Doesn't require the implementation of static method providedPorts()

diff --git a/include/behaviortree_cpp/tree_node.h b/include/behaviortree_cpp/tree_node.h
@@ -328,12 +328,13 @@ class TreeNode
       return parent_;
   }
 
-  std::string short_description() const {
-      std::string str = name();
-      if (str.empty()) {
-          str = config().uid;
-      }
-      return str;
+  void setShortDescription(StringView description)
+  {
+      description_.assign(description.data(), description.size());
+  }
+
+  std::string getShortDescription() const {
+      return description_;
   }
 
 [[nodiscard]] NodeConfig& config();
@@ -383,6 +384,7 @@ class TreeNode
   virtual void halt() = 0;
 
    TreeNode *parent_;
+   std::string description_;
    bool failed_ = false;
 };
 

diff --git a/src/basic_types.cpp b/src/basic_types.cpp
@@ -433,7 +433,7 @@ bool IsAllowedPortName(StringView str)
   {
     return false;
   }
-  if(str == "name" || str == "ID")
+  if(str == "name" || str == "ID" || str == "description")
   {
     return false;
   }

diff --git a/src/behavior_tree.cpp b/src/behavior_tree.cpp
@@ -126,7 +126,7 @@ void printTreeRecursively(const TreeNode* root_node, std::ostream& stream)
       stream << "!nullptr!" << std::endl;
       return;
     }
-    stream << node->short_description() << std::endl;
+    stream << node->getShortDescription() << std::endl;
     indent++;
 
     if(auto control = dynamic_cast<const BT::ControlNode*>(node))

diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
@@ -332,7 +332,7 @@ void BehaviorTreeFactory::clearRegisteredBehaviorTrees()
 }
 
 std::unique_ptr<TreeNode> BehaviorTreeFactory::instantiateTreeNode(
-    const std::string& name, const std::string& ID, const NodeConfig& config) const
+    const std::string& name, const std::string& ID, const std::string& description, const NodeConfig& config) const
 {
   auto idNotFound = [this, ID] {
     std::cerr << ID << " not included in this list:" << std::endl;
@@ -400,6 +400,7 @@ std::unique_ptr<TreeNode> BehaviorTreeFactory::instantiateTreeNode(
 
   node->setRegistrationID(ID);
   node->config().enums = _p->scripting_enums;
+  node->setShortDescription(description);
 
   auto AssignConditions = [](auto& conditions, auto& executors) {
     for(const auto& [cond_id, script] : conditions)

diff --git a/src/loggers/bt_cout_logger.cpp b/src/loggers/bt_cout_logger.cpp
@@ -26,8 +26,8 @@ void StdCoutLogger::callback(Duration timestamp, const TreeNode& node,
   constexpr const size_t ws_count = 25;
 
   double since_epoch = duration<double>(timestamp).count();
-  printf("[%.3f]: %s%s %s -> %s", since_epoch, node.short_description().c_str(),
-         &whitespaces[std::min(ws_count, node.short_description().size())],
+  printf("[%.3f]: %s%s %s -> %s", since_epoch, node.getShortDescription().c_str(),
+         &whitespaces[std::min(ws_count, node.getShortDescription().size())],
          toStr(prev_status, true).c_str(), toStr(status, true).c_str());
   std::cout << std::endl;
 }

diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
@@ -629,6 +629,9 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
   const char* attr_name = element->Attribute("name");
   const std::string instance_name = (attr_name != nullptr) ? attr_name : type_ID;
 
+  const char* attr_description = element->Attribute("description");
+  const std::string instance_description = (attr_description != nullptr) ? attr_description : instance_name;
+
   const TreeNodeManifest* manifest = nullptr;
 
   auto manifest_it = factory.manifests().find(type_ID);
@@ -718,7 +721,7 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
   {
     config.input_ports = port_remap;
     new_node =
-        factory.instantiateTreeNode(instance_name, toStr(NodeType::SUBTREE), config);
+        factory.instantiateTreeNode(instance_name, toStr(NodeType::SUBTREE), instance_description, config);
     auto subtree_node = dynamic_cast<SubTreeNode*>(new_node.get());
     subtree_node->setSubtreeID(type_ID);
   }
@@ -832,7 +835,7 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
       }
     }
 
-    new_node = factory.instantiateTreeNode(instance_name, type_ID, config);
+    new_node = factory.instantiateTreeNode(instance_name, type_ID, instance_description, config);
   }
 
   // add the pointer of this node to the parent