{

int type;

std::string name;

{

double value;

std::string name;

{

SetTask(const std::string& name, const BT::NodeConfig& config)

: BT::SyncActionNode(name, config)

{}

BT::NodeStatus tick() override

{

auto type = getInput<std::string>("type").value();

if(type == "A")

{

setOutput<Command>("task", TaskA{ 43, type });

}

else if(type == "B")

{

setOutput<Command>("task", TaskB{ 3.14, type });

}

return BT::NodeStatus::SUCCESS;

}

static BT::PortsList providedPorts()

{

return { BT::InputPort<std::string>("type"), BT::OutputPort<Command>("task") };

}

{

BT::BehaviorTreeFactory factory;

// Nodes registration, as usual

factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");

factory.registerNodeType<SetTask>("SetTask");

// Groot2 editor requires a model of your registered Nodes.

// You don't need to write that by hand, it can be automatically

// generated using the following command.

std::string xml_models = BT::writeTreeNodesModelXML(factory);

factory.registerBehaviorTreeFromText(xml_text);

auto tree = factory.createTree("MainTree");

std::cout << "----------- XML file ----------\n"

<< BT::WriteTreeToXML(tree, false, false)

<< "--------------------------------\n";

BT::SqliteLogger sqlite_logger(tree, "ex08_sqlitelog.db3", false);

//------------------------------------------------------------------------

// Write some data (from the blackboard) and write into the

// extra column called "extra_data". We will use JSON serialization

auto meta_callback = [&](BT::Duration timestamp, const BT::TreeNode& node,

BT::NodeStatus prev_status,

BT::NodeStatus status) -> std::string {

if(prev_status == BT::NodeStatus::RUNNING && BT::isStatusCompleted(status))

{

if(node.name() == "ExecuteTaskA")

{

auto task = node.config().blackboard->get<Command>("task");

auto taskA = std::get<TaskA>(task);

nlohmann::json json;

json["taskA"] = { { "name", taskA.name }, { "type", taskA.type } };

return json.dump();

}

if(node.name() == "ExecuteTaskB")

{

auto task = node.config().blackboard->get<Command>("task");

auto taskB = std::get<TaskB>(task);

nlohmann::json json;

json["taskB"] = { { "name", taskB.name }, { "value", taskB.value } };

return json.dump();

}

}

return {};

};

sqlite_logger.setAdditionalCallback(meta_callback);

//------------------------------------------------------------------------

while(1)

{

std::cout << "Start" << std::endl;

tree.tickWhileRunning();

std::this_thread::sleep_for(std::chrono::milliseconds(2000));

}

return 0;