Rebase from 'upstream'

Author: facontidavide

CHANGELOG.rst

@@ -2,6 +2,36 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.8.7 (2024-06-26)
+------------------
+* Backport of some build-related flatbuffers changes (`#825 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/825>`_)
+  * From flatbuffers upstream: Fix compiler error
+  Original author of change: avaliente-bc
+  Backport/update from upstream flatbuffers repository.
+  Change taken from https://github.com/google/flatbuffers/pull/7227
+  * From flatbuffers upstream: Fix include of string_view with C++17 abseil
+  Original author of change: ocpalo
+  Backport/update from upstream flatbuffers repository.
+  Changes taken from https://github.com/google/flatbuffers/pull/7897.
+* Add in call to ament_export_targets. (`#826 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/826>`_)
+  That way downstream ament packages can use this
+  package as a CMake target.
+* Fixed `#810 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/810>`_ - halting of subsequent nodes in ReactiveSequence/Fallback (`#817 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/817>`_)
+  * ReactiveSequence and ReactiveFallback will behave more similarly to 3.8
+  * Reactive Sequence/Fallback defaulting to allow multiple async nodes
+  ---------
+  Co-authored-by: Davide Faconti <[email protected]>
+  Co-authored-by: Matej Vargovcik <[email protected]>
+* Merge pull request `#769 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/769>`_ from bi0ha2ard/fewer_boost_dependencies
+  depend only on libboost-coroutine(-dev) for v3.8
+* fix(dependency): depend only on libboost-coroutine(-dev)
+  At least on Ubuntu, boost-all-dev depends on openmpi, which depends on a
+  fortran compiler and gcc. This is very heavy for Docker containers where
+  only exec dependencies are really needed.
+* alternative to `#719 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/719>`_
+* fix issue `#725 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/725>`_ : SetBlackboard can copy entries
+* Contributors: Chris Lalancette, Davide Faconti, Felix, Lars Toenning, afrixs
+
 3.8.5 (2023-08-14)
 ------------------
 

CMakeLists.txt

@@ -250,6 +250,7 @@ if(ament_cmake_FOUND)
 
     ament_export_include_directories(include)
     ament_export_libraries(${BEHAVIOR_TREE_LIBRARY})
+    ament_export_targets(${BEHAVIOR_TREE_LIBRARY}Targets)
     ament_package()
 elseif(catkin_FOUND)
 

include/behaviortree_cpp_v3/actions/set_blackboard_node.h

@@ -26,6 +26,12 @@ namespace BT
  *  <SetBlackboard value="42" output_key="the_answer" />
  *
  * Will store the string "42" in the entry with key "the_answer".
+ *
+ * Alternatively, you can use it to copy one port inside another port:
+ *
+ * <SetBlackboard value="{src_port}" output_key="dst_port" />
+ *
+ * This will copy the type and content of {src_port} into {dst_port}
  */
 class SetBlackboard : public SyncActionNode
 {
@@ -38,26 +44,45 @@ class SetBlackboard : public SyncActionNode
 
   static PortsList providedPorts()
   {
-    return {InputPort("value", "Value represented as a string. convertFromString must be "
-                               "implemented."),
+    return {InputPort("value", "Value to be written int othe output_key"),
             BidirectionalPort("output_key", "Name of the blackboard entry where the "
-                                            "value "
-                                            "should be written")};
+                                            "value should be written")};
   }
 
 private:
   virtual BT::NodeStatus tick() override
   {
-    std::string key, value;
-    if (!getInput("output_key", key))
+    std::string output_key;
+    if (!getInput("output_key", output_key))
     {
       throw RuntimeError("missing port [output_key]");
     }
-    if (!getInput("value", value))
+
+    const std::string value_str = config().input_ports.at("value");
+
+    if(isBlackboardPointer(value_str))
     {
-      throw RuntimeError("missing port [value]");
+      StringView stripped_key = stripBlackboardPointer(value_str);
+      const auto input_key = std::string(stripped_key);
+      std::shared_ptr<Blackboard::Entry> src_entry = config().blackboard->getEntry(input_key);
+      std::shared_ptr<Blackboard::Entry> dst_entry = config().blackboard->getEntry(output_key);
+
+      if(!src_entry)
+      {
+        throw RuntimeError("Can't find the port referred by [value]");
+      }
+      if(!dst_entry)
+      {
+        config().blackboard->createEntry(output_key, src_entry->port_info);
+        dst_entry = config().blackboard->getEntry(output_key);
+      }
+      dst_entry->value = src_entry->value;
+    }
+    else
+    {
+      config().blackboard->set(output_key, value_str);
     }
-    setOutput("output_key", value);
+
     return NodeStatus::SUCCESS;
   }
 };

include/behaviortree_cpp_v3/basic_types.h

@@ -216,7 +216,11 @@ using Optional = nonstd::expected<T, std::string>;
  * */
 using Result = Optional<void>;
 
-const std::unordered_set<std::string> ReservedPortNames = {"ID", "name", "_description"};
+inline bool IsReservedPortname(StringView name)
+{
+  return name == "ID" || name == "name" || name == "_description";
+}
+
 
 class PortInfo
 {
@@ -271,7 +275,7 @@ std::pair<std::string, PortInfo> CreatePort(PortDirection direction, StringView
                                             StringView description = {})
 {
   auto sname = static_cast<std::string>(name);
-  if (ReservedPortNames.count(sname) != 0)
+  if (IsReservedPortname(sname))
   {
     throw std::runtime_error("A port can not use a reserved name. See ReservedPortNames");
   }

include/behaviortree_cpp_v3/blackboard.h

@@ -178,7 +178,6 @@ class Blackboard
     createEntryImpl(key, info);
   }
 
-private:
   struct Entry
   {
     Any value;
@@ -188,10 +187,18 @@ class Blackboard
     {}
 
     Entry(Any&& other_any, const PortInfo& info) :
-      value(std::move(other_any)), port_info(info)
+        value(std::move(other_any)), port_info(info)
     {}
   };
 
+  std::shared_ptr<Entry> getEntry(const std::string& key) const
+  {
+    auto it = storage_.find(key);
+    return it == storage_.end() ? std::shared_ptr<Entry>() : it->second;
+  }
+
+private:
+
   std::shared_ptr<Entry> createEntryImpl(const std::string& key, const PortInfo& info);
 
   mutable std::mutex mutex_;

include/behaviortree_cpp_v3/controls/reactive_fallback.h

@@ -36,8 +36,19 @@ class ReactiveFallback : public ControlNode
   ReactiveFallback(const std::string& name) : ControlNode(name, {})
   {}
 
+  /** A ReactiveFallback is not supposed to have more than a single
+  * anychronous node; if it does an exception is thrown.
+  * You can disabled that check, if you know what you are doing.
+  */
+  static void EnableException(bool enable);
+
 private:
-  virtual BT::NodeStatus tick() override;
+  BT::NodeStatus tick() override;
+
+  void halt() override;
+
+  int running_child_ = -1;
+  static bool throw_if_multiple_running;
 };
 
 }   // namespace BT

include/behaviortree_cpp_v3/controls/reactive_sequence.h

@@ -36,8 +36,20 @@ class ReactiveSequence : public ControlNode
   ReactiveSequence(const std::string& name) : ControlNode(name, {})
   {}
 
+  /** A ReactiveSequence is not supposed to have more than a single
+  * anychronous node; if it does an exception is thrown.
+  * You can disabled that check, if you know what you are doing.
+  */
+  static void EnableException(bool enable);
+
 private:
-  virtual BT::NodeStatus tick() override;
+  BT::NodeStatus tick() override;
+
+  void halt() override;
+
+  int running_child_ = -1;
+
+  static bool throw_if_multiple_running;
 };
 
 }   // namespace BT

include/behaviortree_cpp_v3/flatbuffers/base.h

@@ -237,12 +237,17 @@ namespace flatbuffers {
       }
       #define FLATBUFFERS_HAS_STRING_VIEW 1
     // Check for absl::string_view
-    #elif __has_include("absl/strings/string_view.h")
-      #include "absl/strings/string_view.h"
-      namespace flatbuffers {
-        typedef absl::string_view string_view;
-      }
-      #define FLATBUFFERS_HAS_STRING_VIEW 1
+    #elif __has_include("absl/strings/string_view.h") && \
+          __has_include("absl/base/config.h") && \
+          (__cplusplus >= 201411)
+      #include "absl/base/config.h"
+      #if !defined(ABSL_USES_STD_STRING_VIEW)
+        #include "absl/strings/string_view.h"
+        namespace flatbuffers {
+          typedef absl::string_view string_view;
+        }
+        #define FLATBUFFERS_HAS_STRING_VIEW 1
+      #endif
     #endif
   #endif // __has_include
 #endif // !FLATBUFFERS_HAS_STRING_VIEW

include/behaviortree_cpp_v3/flatbuffers/stl_emulation.h

@@ -625,7 +625,7 @@ class span FLATBUFFERS_FINAL_CLASS {
  private:
   // This is a naive implementation with 'count_' member even if (Extent != dynamic_extent).
   pointer const data_;
-  const size_type count_;
+  size_type count_;
 };
 
  #if !defined(FLATBUFFERS_SPAN_MINIMAL)

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>behaviortree_cpp_v3</name>
-  <version>3.8.6</version>
+  <version>3.8.7</version>
   <description>
   This package provides the Behavior Trees core library.
   </description>
@@ -22,7 +22,8 @@
   <depend condition="$ROS_VERSION == 2">rclcpp</depend>
   <depend condition="$ROS_VERSION == 2">ament_index_cpp</depend>
 
-  <depend>boost</depend>
+  <build_depend>libboost-coroutine-dev</build_depend>
+  <exec_depend>libboost-coroutine</exec_depend>
   <depend>libzmq3-dev</depend>
   <depend>libncurses-dev</depend>
 

src/controls/reactive_fallback.cpp

@@ -14,9 +14,22 @@
 
 namespace BT
 {
+
+bool ReactiveFallback::throw_if_multiple_running = false;
+
+void ReactiveFallback::EnableException(bool enable)
+{
+  ReactiveFallback::throw_if_multiple_running = enable;
+}
+
 NodeStatus ReactiveFallback::tick()
 {
   size_t failure_count = 0;
+  if(status() == NodeStatus::IDLE)
+  {
+    running_child_ = -1;
+  }
+  setStatus(NodeStatus::RUNNING);
 
   for (size_t index = 0; index < childrenCount(); index++)
   {
@@ -26,12 +39,23 @@ NodeStatus ReactiveFallback::tick()
     switch (child_status)
     {
       case NodeStatus::RUNNING: {
-
-        // reset the previous children, to make sure that they are in IDLE state
-        // the next time we tick them
-        for (size_t i = 0; i < index; i++)
+        // reset the previous children, to make sure that they are
+        // in IDLE state the next time we tick them
+        for (size_t i = 0; i < childrenCount(); i++)
         {
-          haltChild(i);
+          if(i != index)
+          {
+            haltChild(i);
+          }
+        }
+        if(running_child_ == -1)
+        {
+          running_child_ = int(index);
+        }
+        else if(throw_if_multiple_running && running_child_ != int(index))
+        {
+          throw LogicError("[ReactiveFallback]: only a single child can return RUNNING.\n"
+                           "This throw can be disabled with ReactiveFallback::EnableException(false)");
         }
         return NodeStatus::RUNNING;
       }
@@ -61,4 +85,10 @@ NodeStatus ReactiveFallback::tick()
   return NodeStatus::RUNNING;
 }
 
+void ReactiveFallback::halt()
+{
+  running_child_ = -1;
+  ControlNode::halt();
+}
+
 }   // namespace BT

src/controls/reactive_sequence.cpp

@@ -14,9 +14,22 @@
 
 namespace BT
 {
+
+bool ReactiveSequence::throw_if_multiple_running = false;
+
+void ReactiveSequence::EnableException(bool enable)
+{
+  ReactiveSequence::throw_if_multiple_running = enable;
+}
+
 NodeStatus ReactiveSequence::tick()
 {
   size_t success_count = 0;
+  if(status() == NodeStatus::IDLE)
+  {
+    running_child_ = -1;
+  }
+  setStatus(NodeStatus::RUNNING);
 
   for (size_t index = 0; index < childrenCount(); index++)
   {
@@ -26,11 +39,23 @@ NodeStatus ReactiveSequence::tick()
     switch (child_status)
     {
       case NodeStatus::RUNNING: {
-        // reset the previous children, to make sure that they are in IDLE state
-        // the next time we tick them
-        for (size_t i = 0; i < index; i++)
+        // reset the previous children, to make sure that they are
+        // in IDLE state the next time we tick them
+        for (size_t i = 0; i < childrenCount(); i++)
         {
-          haltChild(i);
+          if(i != index)
+          {
+            haltChild(i);
+          }
+        }
+        if(running_child_ == -1)
+        {
+          running_child_ = int(index);
+        }
+        else if(throw_if_multiple_running && running_child_ != int(index))
+        {
+          throw LogicError("[ReactiveSequence]: only a single child can return RUNNING.\n"
+                           "This throw can be disabled with ReactiveSequence::EnableException(false)");
         }
         return NodeStatus::RUNNING;
       }
@@ -59,4 +84,10 @@ NodeStatus ReactiveSequence::tick()
   return NodeStatus::RUNNING;
 }
 
+void ReactiveSequence::halt()
+{
+  running_child_ = -1;
+  ControlNode::halt();
+}
+
 }   // namespace BT