fix merge - update to btcpp 4

include/behaviortree_cpp/behavior_tree.h

@@ -1,5 +1,5 @@
 /* Copyright (C) 2015-2018 Michele Colledanchise -  All Rights Reserved
- * Copyright (C) 2018-2020 Davide Faconti, Eurecat -  All Rights Reserved
+ * Copyright (C) 2018-2023 Davide Faconti -  All Rights Reserved
 *
 *   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
 *   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
@@ -11,38 +11,44 @@
 *   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.
 */
 
-#ifndef BEHAVIOR_TREE_H
-#define BEHAVIOR_TREE_H
-
-#include "behaviortree_cpp_v3/controls/parallel_node.h"
-#include "behaviortree_cpp_v3/controls/reactive_sequence.h"
-#include "behaviortree_cpp_v3/controls/reactive_fallback.h"
-#include "behaviortree_cpp_v3/controls/fallback_node.h"
-#include "behaviortree_cpp_v3/controls/sequence_node.h"
-#include "behaviortree_cpp_v3/controls/sequence_star_node.h"
-#include "behaviortree_cpp_v3/controls/switch_node.h"
-#include "behaviortree_cpp_v3/controls/manual_node.h"
-#include "behaviortree_cpp_v3/controls/if_then_else_node.h"
-#include "behaviortree_cpp_v3/controls/while_do_else_node.h"
-
-#include "behaviortree_cpp_v3/action_node.h"
-#include "behaviortree_cpp_v3/condition_node.h"
-
-#include "behaviortree_cpp_v3/decorators/inverter_node.h"
-#include "behaviortree_cpp_v3/decorators/retry_node.h"
-#include "behaviortree_cpp_v3/decorators/repeat_node.h"
-#include "behaviortree_cpp_v3/decorators/subtree_node.h"
-
-#include "behaviortree_cpp_v3/actions/always_success_node.h"
-#include "behaviortree_cpp_v3/actions/always_failure_node.h"
-#include "behaviortree_cpp_v3/actions/set_blackboard_node.h"
-
-#include "behaviortree_cpp_v3/decorators/force_success_node.h"
-#include "behaviortree_cpp_v3/decorators/force_failure_node.h"
-#include "behaviortree_cpp_v3/decorators/keep_running_until_failure_node.h"
-#include "behaviortree_cpp_v3/decorators/blackboard_precondition.h"
-#include "behaviortree_cpp_v3/decorators/timeout_node.h"
-#include "behaviortree_cpp_v3/decorators/delay_node.h"
+#pragma once
+
+#include "behaviortree_cpp/controls/parallel_node.h"
+#include "behaviortree_cpp/controls/parallel_all_node.h"
+#include "behaviortree_cpp/controls/reactive_sequence.h"
+#include "behaviortree_cpp/controls/reactive_fallback.h"
+#include "behaviortree_cpp/controls/fallback_node.h"
+#include "behaviortree_cpp/controls/sequence_node.h"
+#include "behaviortree_cpp/controls/sequence_with_memory_node.h"
+#include "behaviortree_cpp/controls/switch_node.h"
+#include "behaviortree_cpp/controls/if_then_else_node.h"
+#include "behaviortree_cpp/controls/while_do_else_node.h"
+
+#include "behaviortree_cpp/action_node.h"
+#include "behaviortree_cpp/condition_node.h"
+
+#include "behaviortree_cpp/decorators/inverter_node.h"
+#include "behaviortree_cpp/decorators/retry_node.h"
+#include "behaviortree_cpp/decorators/repeat_node.h"
+#include "behaviortree_cpp/decorators/run_once_node.h"
+#include "behaviortree_cpp/decorators/subtree_node.h"
+#include "behaviortree_cpp/decorators/loop_node.h"
+
+#include "behaviortree_cpp/actions/always_success_node.h"
+#include "behaviortree_cpp/actions/always_failure_node.h"
+#include "behaviortree_cpp/actions/script_condition.h"
+#include "behaviortree_cpp/actions/script_node.h"
+#include "behaviortree_cpp/actions/set_blackboard_node.h"
+#include "behaviortree_cpp/actions/test_node.h"
+#include "behaviortree_cpp/actions/sleep_node.h"
+#include "behaviortree_cpp/actions/unset_blackboard_node.h"
+
+#include "behaviortree_cpp/decorators/force_success_node.h"
+#include "behaviortree_cpp/decorators/force_failure_node.h"
+#include "behaviortree_cpp/decorators/keep_running_until_failure_node.h"
+#include "behaviortree_cpp/decorators/script_precondition.h"
+#include "behaviortree_cpp/decorators/timeout_node.h"
+#include "behaviortree_cpp/decorators/delay_node.h"
 
 #include <iostream>
 
@@ -60,14 +66,15 @@ void applyRecursiveVisitor(const TreeNode* root_node,
                            const std::function<void(const TreeNode*)>& visitor);
 
 //Call the visitor for each node of the tree, given a root.
-void applyRecursiveVisitor(TreeNode* root_node, const std::function<void(TreeNode*)>& visitor);
+void applyRecursiveVisitor(TreeNode* root_node,
+                           const std::function<void(TreeNode*)>& visitor);
 
 /**
  * Debug function to print the hierarchy of the tree. Prints to std::cout by default.
  */
 void printTreeRecursively(const TreeNode* root_node, std::ostream& stream = std::cout);
 
-typedef std::vector<std::pair<uint16_t, uint8_t>> SerializedTreeStatus;
+using SerializedTreeStatus = std::vector<std::pair<uint16_t, uint8_t>>;
 
 /**
  * @brief buildSerializedStatusSnapshot can be used to create a buffer that can be stored
@@ -85,16 +92,18 @@ void buildSerializedStatusSnapshot(const TreeNode* root_node,
 template <typename T>
 inline NodeType getType()
 {
-    // clang-format off
+  // clang-format off
     if( std::is_base_of<ActionNodeBase, T>::value )        return NodeType::ACTION;
     if( std::is_base_of<ConditionNode, T>::value )         return NodeType::CONDITION;
-    if( std::is_base_of<SubtreeNode, T>::value )           return NodeType::SUBTREE;
-    if( std::is_base_of<SubtreePlusNode, T>::value )       return NodeType::SUBTREE;
+    if( std::is_base_of<SubTreeNode, T>::value )           return NodeType::SUBTREE;
     if( std::is_base_of<DecoratorNode, T>::value )         return NodeType::DECORATOR;
     if( std::is_base_of<ControlNode, T>::value )           return NodeType::CONTROL;
     return NodeType::UNDEFINED;
-    // clang-format on
-}
+  // clang-format on
 }
 
-#endif   // BEHAVIOR_TREE_H
+const char* LibraryVersionString();
+
+int LibraryVersionNumber();
+
+}  // namespace BT

include/behaviortree_cpp/bt_factory.h

@@ -233,8 +233,8 @@ class BehaviorTreeFactory
     auto manifest = CreateManifest<T>(ID);
     registerBuilder(manifest, builder);
   }
-
-    /**
+  
+/**
     * @brief registerSimpleAction help you register nodes of type SimpleActionNode.
     *
     * @param ID                 registration ID
@@ -245,7 +245,6 @@ class BehaviorTreeFactory
     void registerSimpleAction(const std::string& ID,
                               const std::function<bool(TreeNode&)>& tick_bool_functor,
                               PortsList ports = {});
-
   /**
     * @brief registerSimpleAction help you register nodes of type SimpleActionNode.
     *
@@ -567,4 +566,4 @@ void ImportTreeFromJSON(const nlohmann::json& json, BT::Tree& tree);
 
 }  // namespace BT
 
-#endif  // BT_FACTORY_H
+#endif  // BT_FACTORY_H

include/behaviortree_cpp/control_node.h

@@ -11,50 +11,54 @@
 *   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.
 */
 
-#ifndef CONTROLNODE_H
-#define CONTROLNODE_H
+#pragma once
 
 #include <vector>
-#include "behaviortree_cpp_v3/tree_node.h"
+#include "behaviortree_cpp/tree_node.h"
 
 namespace BT
 {
 class ControlNode : public TreeNode
 {
-  protected:
-    std::vector<TreeNode*> children_nodes_;
+protected:
+  std::vector<TreeNode*> children_nodes_;
 
-  public:
-    ControlNode(const std::string& name, const NodeConfiguration& config);
+public:
+  ControlNode(const std::string& name, const NodeConfig& config);
 
-    virtual ~ControlNode() override = default;
+  virtual ~ControlNode() override = default;
 
-    /// The method used to add nodes to the children vector
-    void addChild(TreeNode* child);
+  /// The method used to add nodes to the children vector
+  void addChild(TreeNode* child);
 
-    size_t childrenCount() const;
+  void insertChildAfter(TreeNode* child, TreeNode* sibling);
 
-    const std::vector<TreeNode*>& children() const;
+  size_t childrenCount() const;
 
-    const TreeNode* child(size_t index) const
-    {
-        return children().at(index);
-    }
+  const std::vector<TreeNode*>& children() const;
 
-    virtual void halt() override;
+  const TreeNode* child(size_t index) const
+  {
+    return children().at(index);
+  }
 
-    void haltChildren();
+  virtual void halt() override;
 
-    [[deprecated( "deprecated: please use explicitly haltChildren() or haltChild(i)")]]
-    void haltChildren(size_t first);
+  /// same as resetChildren()
+  void haltChildren();
 
-    void haltChild(size_t i);
+  [[deprecated("deprecated: please use explicitly haltChildren() or haltChild(i)")]] void
+  haltChildren(size_t first);
 
-    virtual NodeType type() const override final
-    {
-        return NodeType::CONTROL;
-    }
-};
-}
+  void haltChild(size_t i);
+
+  virtual NodeType type() const override final
+  {
+    return NodeType::CONTROL;
+  }
 
-#endif
+  /// Set the status of all children to IDLE.
+  /// also send a halt() signal to all RUNNING children
+  void resetChildren();
+};
+}  // namespace BT

include/behaviortree_cpp/controls/sequence_node.h

@@ -50,4 +50,4 @@ class SequenceNode : public ControlNode
   virtual BT::NodeStatus tick() override;
 };
 
-}  // namespace BT
+}  // namespace BT

include/behaviortree_cpp/decorators/retry_node.h

@@ -53,19 +53,19 @@ class RetryNode : public DecoratorNode
 
   virtual void halt() override;
 
-private:
-  int max_attempts_;
-  int try_count_;
-  bool all_skipped_ = true;
-
   bool is_retrying() const {
-      return try_count_ > 0;
+    return try_count_ > 0;
   }
 
   int n_th_retry() const {
-      return try_count_;
+    return try_count_;
   }
 
+private:
+  int max_attempts_;
+  int try_count_;
+  bool all_skipped_ = true;
+
   bool read_parameter_from_ports_;
   static constexpr const char* NUM_ATTEMPTS = "num_attempts";
 
@@ -85,4 +85,4 @@ class [[deprecated("RetryUntilSuccesful was a typo and deprecated, use "
   virtual ~RetryNodeTypo() override = default;
 };
 
-}  // namespace BT
+}  // namespace BT

include/behaviortree_cpp/loggers/bt_cout_logger.h

@@ -28,4 +28,4 @@ class StdCoutLogger : public StatusChangeLogger
 
 }  // namespace BT
 
-#endif  // BT_COUT_LOGGER_H
+#endif  // BT_COUT_LOGGER_H

include/behaviortree_cpp/tree_node.h

@@ -292,22 +292,6 @@ class TreeNode
   [[nodiscard]] static Expected<StringView> getRemappedKey(StringView port_name,
                                                            StringView remapped_port);
 
-  void setParent(TreeNode *parent) {
-      parent_ = parent;
-  }
-
-  TreeNode* getParent() const {
-      return parent_;
-  }
-
-  std::string short_description() const {
-      std::string str = name();
-      if (str.empty()) {
-          str = config().uid;
-      }
-      return str;
-  }
-
   /// Notify that the tree should be ticked again()
   void emitWakeUpSignal();
 
@@ -336,6 +320,22 @@ class TreeNode
     }
   }
 
+  void setParent(TreeNode *parent) {
+      parent_ = parent;
+  }
+
+  TreeNode* getParent() const {
+      return parent_;
+  }
+
+  std::string short_description() const {
+      std::string str = name();
+      if (str.empty()) {
+          str = config().uid;
+      }
+      return str;
+  }
+
 protected:
   friend class BehaviorTreeFactory;
   friend class DecoratorNode;
@@ -377,12 +377,12 @@ class TreeNode
   Expected<NodeStatus> checkPreConditions();
   void checkPostConditions(NodeStatus status);
 
-  TreeNode *parent_;
-  bool failed_ = false;
-
   /// The method used to interrupt the execution of a RUNNING node.
   /// Only Async nodes that may return RUNNING should implement it.
   virtual void halt() = 0;
+
+   TreeNode *parent_;
+   bool failed_ = false;
 };
 
 //-------------------------------------------------------
@@ -575,4 +575,4 @@ inline void assignDefaultRemapping(NodeConfig& config)
   }
 }
 
-}  // namespace BT
+}  // namespace BT