iframe-proxy | Sunbelt Computer Software

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#include "behaviortree_cpp/bt_factory.h"
using namespace BT;
// clang-format off
static const char* xml_text = R"(
 <root BTCPP_format="4" >
     <BehaviorTree ID="MainTree">
        <Sequence name="root">
            <AlwaysSuccess/>
            <SaySomething   message="this works too" />
            <ThinkWhatToSay text="{the_answer}"/>
            <SaySomething   message="{the_answer}" />
        </Sequence>
     </BehaviorTree>
// clang-format on
class SaySomething : public BT::SyncActionNode
  SaySomething(const std::string& name, const BT::NodeConfig& config) :
        BT::SyncActionNode(name, config)
  BT::NodeStatus tick() override
    std::string msg;
    getInput("message", msg);
    std::cout << msg << std::endl;
    return BT::NodeStatus::SUCCESS;
  static BT::PortsList providedPorts()
    return {BT::InputPort<std::string>("message")};
class ThinkWhatToSay : public BT::SyncActionNode
  ThinkWhatToSay(const std::string& name, const BT::NodeConfig& config) :
        BT::SyncActionNode(name, config)
  BT::NodeStatus tick() override
    setOutput("text", "The answer is 42");
    return BT::NodeStatus::SUCCESS;
  static BT::PortsList providedPorts()
    return {BT::OutputPort<std::string>("text")};
  BehaviorTreeFactory factory;
  factory.registerNodeType<SaySomething>("SaySomething");
  factory.registerNodeType<ThinkWhatToSay>("ThinkWhatToSay");
  auto tree = factory.createTreeFromText(xml_text);
  tree.tickWhileRunning();
  return 0;

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