runtime/rbs_bt_executor/src/BTExec.cpp

#include <behaviortree_cpp/tree_node.h>
#include <behaviortree_ros2/plugins.hpp>
#include <behaviortree_ros2/ros_node_params.hpp>
#include <string>
#include <fstream>
#include "behaviortree_ros2/bt_service_node.hpp"
#include "behaviortree_ros2/bt_action_node.hpp"
#include "rbs_skill_interfaces/srv/rbs_bt.hpp"
#include "rbs_skill_interfaces/action/rbs_bt.hpp"

#define STR_ACTION   "do"
#define STR_SID      "sid"
#define STR_COMMAND  "command"
#define NODE_NAME    "rbs_interface"
#define SERVICE_NAME "rbs_interface_s"
#define SERVER_NAME  "rbs_interface_a"
#define FILE_BT      "bt.xml"

template<typename T> std::string to_string(const T &t)
{
    std::stringstream ss;
    ss << t;
    return ss.str();
}

using namespace BT;
using namespace std::chrono_literals;
using RbsConditionSrv = rbs_skill_interfaces::srv::RbsBt;

using RbsActionSrv = rbs_skill_interfaces::action::RbsBt;

class RbsAction : public RosActionNode<RbsActionSrv> {
public:
  RbsAction(const std::string &name, const NodeConfig &conf, const RosNodeParams &params)
      : RosActionNode<RbsActionSrv>(name, conf, params) {

    m_action = getInput<std::string>(STR_ACTION).value();
    m_command = getInput<std::string>(STR_COMMAND).value();
    RCLCPP_INFO_STREAM(logger(), "Start node RbsAction: " + m_action + "/" + m_command);

    m_client = std::make_shared<rclcpp::AsyncParametersClient>(node_.lock(), NODE_NAME);

    while (!m_client->wait_for_service(1s)) {
      if (!rclcpp::ok()) {
        RCLCPP_ERROR(logger(), "Interrupted while waiting for the service. Exiting.");
        break;
      }
      RCLCPP_WARN(logger(), NODE_NAME " service not available, waiting again...");
    }

  }

  static BT::PortsList providedPorts() {
    return providedBasicPorts({
      BT::InputPort<std::string>(STR_SID),
      BT::InputPort<std::string>(STR_ACTION),
      BT::InputPort<std::string>(STR_COMMAND)
      });
  }

  bool setGoal(RosActionNode::Goal& goal) override {
    getInput(STR_ACTION, goal.action);
    getInput(STR_COMMAND, goal.command);
    getInput(STR_SID, goal.sid);
    m_action = goal.action;
    m_command = goal.command;

    m_i++;
    RCLCPP_INFO_STREAM(logger(), "setGoal: " + to_string(m_i) + ") " + goal.action + "/" + goal.command + " goal.sid = " + to_string(goal.sid));
    return true;
  }

  NodeStatus onResultReceived(const WrappedResult& wr) override {
    m_i++;
    RCLCPP_INFO_STREAM(logger(), "onResultReceived: " + to_string(m_i) + ") " + m_action + "/" + m_command + " wr.result->ok - " + to_string(wr.result->ok));

    if (!wr.result->ok) {
      return NodeStatus::FAILURE;
    }
    return NodeStatus::SUCCESS;
  }

private:
  int m_i{0};
  std::string m_action{};
  std::string m_command{};
  std::shared_ptr<rclcpp::AsyncParametersClient> m_client;
};

// **********************************************************
class RbsCondition : public RosServiceNode<RbsConditionSrv> {
public:
  RbsCondition(const std::string &name, const NodeConfig& conf, const RosNodeParams& params)
      : RosServiceNode<RbsConditionSrv>(name, conf, params) {

    m_action_name = getInput<std::string>(STR_ACTION).value();
    m_command = getInput<std::string>(STR_COMMAND).value();
    RCLCPP_INFO_STREAM(logger(), "Start node RbsCondition: " + m_action_name + "/" + m_command);

    m_params_client = std::make_shared<rclcpp::AsyncParametersClient>(node_.lock(), NODE_NAME);

    while (!m_params_client->wait_for_service(1s)) {
      if (!rclcpp::ok()) {
        RCLCPP_ERROR(logger(), "Interrupted while waiting for the service. Exiting.");
        break;
      }
      RCLCPP_WARN(logger(), NODE_NAME " service not available, waiting again...");
    }
  }

  bool setRequest(Request::SharedPtr &request) override {
    request->action = m_action_name; 
    request->command = m_command;
    getInput(STR_SID, request->sid);

    m_i++;
    RCLCPP_INFO_STREAM(logger(), "setRequest: " + to_string(m_i) + ") " + m_action_name + "/" + m_command + " request->sid = " + to_string(request->sid));
    return true;
  }

  NodeStatus onResponseReceived(const Response::SharedPtr &response) override {
    m_i++;
    RCLCPP_INFO_STREAM(logger(), "onResponseReceived: " + to_string(m_i) + ") " + m_action_name + "/" + m_command + " response->ok - " + to_string(response->ok));

    if (!response->ok) {
      return NodeStatus::FAILURE;
    }
    return NodeStatus::SUCCESS;
  }

  static PortsList providedPorts() {
    return providedBasicPorts({
        InputPort<std::string>(STR_SID),
        InputPort<std::string>(STR_ACTION),
        InputPort<std::string>(STR_COMMAND)
    });
  }

private:
  int m_i{0};
  std::string m_action_name{};
  std::string m_command{};
  std::shared_ptr<rclcpp::AsyncParametersClient> m_params_client;
};

// class RbsCondition : public RosTopicSubNode {
// }
// Simple function that return a NodeStatus
// BT::NodeStatus TestIf()
// {
//   std::string m_if = "if"; //getInput<std::string>("if").value();
//   // std::cout << "[ Test: OK ]" << std::endl;
  
//   std::stringstream ss;
//   ss << "[ Test: OK ] " << m_if;
//   std::string str = ss.str();
//   std::cout << str << std::endl;
//   return BT::NodeStatus::SUCCESS;
// }

int main(int argc, char** argv)
{
    // filename Behavior Tree
    std::string bt = std::string(argv[1]) + "/" FILE_BT;
    std::ifstream fh(bt, std::ios::in);
    // reading xml
    std::string xml{std::istreambuf_iterator<char>(fh), std::istreambuf_iterator<char>()}; 

  rclcpp::init(argc, argv);

  // RCLCPP_INFO(rclcpp::get_logger("rclcpp"), xml.c_str());
  auto nh = std::make_shared<rclcpp::Node>("bt_exec"); //"_action");
  // auto nh2 = std::make_shared<rclcpp::Node>("bt_exe_condition");

  RosNodeParams params; //,params2;
  params.nh = nh;
  params.default_port_value = SERVICE_NAME;
  params.server_timeout = 3s;

  BehaviorTreeFactory factory;
  factory.registerNodeType<RbsCondition>("Is", params);

  // params.nh = nh;
  params.default_port_value = SERVER_NAME;
  // params.server_timeout = 3s;
  factory.registerNodeType<RbsAction>("RbsAction", params);
  // factory.registerSimpleCondition("Is", [&](TreeNode&) { return TestIf(); });
  // factory.registerRosAction("Is", params);

  auto tree = factory.createTreeFromText(xml);

  // while(rclcpp::ok())
  if(rclcpp::ok())
  {
    tree.tickWhileRunning();
  }

  rclcpp::shutdown();

  return 0;
}