Syncs fork with upstream

CMakeLists.txt

@@ -20,6 +20,7 @@ endif()
 
 #############################################################
 find_package(ament_cmake QUIET)
+find_package(catkin QUIET)
 
 if(ament_cmake_FOUND)
   find_package(ament_index_cpp REQUIRED)
@@ -29,19 +30,19 @@ if(ament_cmake_FOUND)
     behaviortree_cpp_v3
   )
 
-  message(STATUS "------------------------------------------------")
-  message(STATUS "BehaviourTreeEditor is being built using AMENT.")
-  message(STATUS "------------------------------------------------")
-elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
+  message(STATUS "---------------------")
+  message(STATUS "Compiling with AMENT.")
+  message(STATUS "---------------------")
+elseif(catkin_FOUND OR CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE )
 # http://answers.ros.org/question/230877/optionally-build-a-package-with-catkin/
   set(catkin_FOUND 1)
   # add_definitions( -DUSING_ROS )
 
   find_package(catkin REQUIRED COMPONENTS behaviortree_cpp_v3)
 
-  message(STATUS "------------------------------------------------")
-  message(STATUS "BehaviourTreeEditor is being built using CATKIN.")
-  message(STATUS "------------------------------------------------")
+  message(STATUS "----------------------")
+  message(STATUS "Compiling with CATKIN.")
+  message(STATUS "----------------------")
 
   catkin_package(
     INCLUDE_DIRS 
@@ -82,13 +83,24 @@ set(BUILD_TESTING OFF CACHE BOOL "")
 set(CATKIN_ENABLE_TESTING OFF CACHE BOOL "")
 
 if(NOT catkin_FOUND AND NOT ament_cmake_FOUND)
-    # look for BehaviorTree.CPP on the system
-    find_package(BehaviorTreeV3)
-    if (NOT BehaviorTree_FOUND)
-        # use git submodule only if you are not compiling with catkin
-        add_subdirectory( depend/BehaviorTree.CPP )
-        include_directories( depend/BehaviorTree.CPP/include )
+
+    if(NOT EXISTS depend/BehaviorTree.CPP)
+      message("Can't find the submodule BehaviorTree.CPP")
+      message("Run [git submodule update --init --recursive]")
     endif()
+
+    SET(BUILD_EXAMPLES OFF CACHE BOOL "Build tutorials and examples" FORCE)
+    SET(BUILD_UNIT_TESTS OFF CACHE BOOL "Build the unit tests" FORCE)
+    SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Build shared libraries" FORCE)
+
+    # look for BehaviorTree.CPP as submodule
+    # use git submodule only if you are not compiling with catkin
+    add_subdirectory( depend/BehaviorTree.CPP )
+    include_directories( depend/BehaviorTree.CPP/include )
+
+    message(STATUS "----------------------------------")
+    message(STATUS "BehaviourTree.CPP submodule found.")
+    message(STATUS "----------------------------------")
 endif()
 
 ##########################################
@@ -147,7 +159,7 @@ add_library(behavior_tree_editor SHARED
     ${FORMS_HEADERS}
 )
 
-SET(GROOT_DEPENDENCIES QtNodeEditor )
+SET(GROOT_DEPENDENCIES QtNodeEditor ncurses ncursesw tinfo )
 
 if(ament_cmake_FOUND)
     ament_target_dependencies(behavior_tree_editor ${dependencies})
@@ -158,7 +170,12 @@ else()
 endif()
 
 if( ZMQ_FOUND )
-    SET(GROOT_DEPENDENCIES ${GROOT_DEPENDENCIES} zmq)
+    if (APPLE)
+        find_package(cppzmq)
+        SET(GROOT_DEPENDENCIES ${GROOT_DEPENDENCIES} cppzmq)
+    else()
+        SET(GROOT_DEPENDENCIES ${GROOT_DEPENDENCIES} zmq)
+    endif()
 endif()
 
 target_link_libraries(behavior_tree_editor ${GROOT_DEPENDENCIES} )

QtNodeEditor/src/NodeState.cpp

@@ -48,7 +48,7 @@ NodeState::
 connections(PortType portType, PortIndex portIndex) const
 {
   auto const &connections = getEntries(portType);
-  if( portIndex < 0 || portIndex >= connections.size() )
+  if( portIndex < 0 || static_cast<unsigned long>(portIndex) >= connections.size() )
   {
     return NodeState::ConnectionPtrSet();
   }
@@ -139,4 +139,3 @@ resizing() const
 {
   return _resizing;
 }
-

README.md

@@ -1,5 +1,19 @@
 [![Build Status](https://travis-ci.org/BehaviorTree/Groot.svg?branch=master)](https://travis-ci.org/BehaviorTree/Groot)
 
+# DEPRECATION notice
+
+Groot is being rewritten from the ground up (https://www.behaviortree.dev/groot). 
+This repository will be in "maintenance mode" and won't receive any significant update. 
+Issues will **not** be addressed by the main author but, occasionally, Pull Requests **might** be checked and merged.
+
+**Groot 1.0 is compatible only with BehaviorTree.CPP 3.8.x**, and it is not expected to 
+work correctly with BehaviorTree.CPP 4.x.
+
+Groot 2.0 introduces many new functionalities and compatibility with BT.CPP 4.0.
+
+**If you use Groot at work** and you want to know how we are redesigning it to be more flexible, 
+reliable, fast and scalable, get in touch with the main author: [email protected].
+
 # Groot 
 
 **Groot** is a Graphical Editor, written in C++ and Qt, to create [BehaviorTrees](https://en.wikipedia.org/wiki/Behavior_tree).
@@ -15,13 +29,6 @@ the graphic user interface are used to design and monitor a Behavior Tree.
 [![MOOD2Be](video_MOOD2Be.png)](https://vimeo.com/304651183)
 
 
-# Does your company use BehaviorTree.CPP and Groot?
-
-No company, institution or public/private funding is currently supporting the development of BehaviorTree.CPP and Groot. As a consequence, my time to support **BehaviorTree.CPP** is very limited and I decided that I won't spend any time at all supporting **Groot**.
-Pull Requests are welcome and will be reviewed, even if with some delay.
-
-If your company use this software, consider becoming a **sponsor** to support bug fixing and development of new features. You can find contact details in [package.xml](package.xml).
-
 # Dependencies, Installation, and Usage
 
 To compile the project you need:
@@ -34,27 +41,31 @@ On Ubuntu Xenial or later, you can install the dependencies with:
        sudo apt install qtbase5-dev libqt5svg5-dev libzmq3-dev libdw-dev
 
 Some functionalities of the code related to ROS will work __only__ if the
-project is compiled with with _catkin_.
+project is compiled with _catkin_.
 
-# Compilation instructions (Linux)
+## Compilation instructions (Linux)
 
-       git clone https://github.com/BehaviorTree/Groot.git
-       cd Groot
-       git submodule update --init --recursive
-       mkdir build; cd build
-       cmake ..
-       make
+```
+git clone --recurse-submodules https://github.com/BehaviorTree/Groot.git
+cd Groot
+cmake -S . -B build
+cmake --build build
+```
 
  Note compiling "in-source" is not allowed.   
 
- # Compilation instructions (ROS)
-
-       mkdir -p catkin_ws/src
-       cd catkin_ws/src
-       git clone https://github.com/BehaviorTree/Groot.git
-       cd ..
-       rosdep install --from-paths src --ignore-src
-       catkin_make  
+ ## Compilation instructions (ROS/ROS2)
+
+**Discouraged**
+
+If you want to compile using `catkin build`(ROS) or `colcon_build` (ROS2)
+then you must be sure that version 3.8.x is used (branch V3.8).
+
+You may probably want to compile BehaviorTree.CPP in the same workspace.
+
+```
+git clone --branch v3.8 https://github.com/BehaviorTree/BehaviorTree.CPP.git
+```
 
 # Licence       
 

bt_editor/XML_utilities.cpp

@@ -2,10 +2,12 @@
 #include "utils.h"
 
 #include "models/SubtreeNodeModel.hpp"
+#include <behaviortree_cpp_v3/basic_types.h>
 #include <behaviortree_cpp_v3/xml_parsing.h>
 #include <QMessageBox>
 #include <QtDebug>
 #include <QLineEdit>
+#include <unordered_map>
 
 using namespace QtNodes;
 
@@ -189,11 +191,13 @@ bool VerifyXML(QDomDocument &doc,
     error_messages.clear();
     try {
         std::string xml_text = doc.toString().toStdString();
-        std::set<std::string> registered_nodes;
-
+        std::unordered_map<std::string, BT::NodeType> registered_nodes;
+
+        BT::NodeType node_type; 
         for(const auto& str: registered_ID)
         {
-            registered_nodes.insert( str.toStdString() );
+            node_type = BT::convertFromString<BT::NodeType>(str.toStdString());
+            registered_nodes.insert( {str.toStdString(),  node_type});
         }
 
         BT::VerifyXML(xml_text, registered_nodes); // may throw

bt_editor/graphic_container.cpp

@@ -11,6 +11,7 @@
 #include <QMessageBox>
 #include <QApplication>
 #include <QInputDialog>
+#include <QSvgGenerator>
 
 using namespace QtNodes;
 
@@ -137,17 +138,16 @@ void GraphicContainer::lockSubtreeEditing(Node &root_node, bool locked, bool cha
             }
         }
         //--------------------------------
-        QtNodes::NodeStyle style;
-
         if( locked && change_style )
         {
+            QtNodes::NodeStyle style;
             style.GradientColor0.setBlue(120);
             style.GradientColor1.setBlue(100);
             style.GradientColor2.setBlue(90);
             style.GradientColor3.setBlue(90);
+            node->nodeDataModel()->setNodeStyle( style );
         }
         node->nodeGraphicsObject().setGeometryChanged();
-        node->nodeDataModel()->setNodeStyle( style );
         node->nodeGraphicsObject().update();
     }
 }
@@ -163,6 +163,18 @@ void GraphicContainer::nodeReorder()
     emit undoableChange();
 }
 
+void GraphicContainer::saveSvgFile(const QString path)
+{
+    QSvgGenerator generator;
+    QRectF rect = _scene->itemsBoundingRect();
+    generator.setFileName(path);
+    generator.setSize(QSize(rect.width(), rect.height()));
+    generator.setViewBox(rect);
+    QPainter painter;
+    painter.begin(&generator);
+    _scene->render(&painter, rect, rect);
+}
+
 void GraphicContainer::zoomHomeView()
 {
     QRectF rect = _scene->itemsBoundingRect();
@@ -721,5 +733,3 @@ void GraphicContainer::loadFromJson(const QByteArray &data)
     clearScene();
     scene()->loadFromMemory( data );
 }
-
-

bt_editor/graphic_container.h

@@ -33,6 +33,8 @@ class GraphicContainer : public QObject
 
     void nodeReorder();
 
+    void saveSvgFile(const QString path);
+
     void zoomHomeView();
 
     bool containsValidTree() const;

bt_editor/main.cpp

@@ -39,6 +39,23 @@ main(int argc, char *argv[])
                                    "Start in one of these modes: [editor,monitor,replay]",
                                    "mode");
     parser.addOption(mode_option);
+
+    QCommandLineOption address_option(QStringList() << "address",
+                                      "Address to connect to (defaults to localhost)",
+                                      "address");
+    parser.addOption(address_option);
+    QCommandLineOption pub_port_option(QStringList() << "publisher_port",
+                                       "Publisher port number (defaults to 1666)",
+                                       "publisher_port");
+    parser.addOption(pub_port_option);
+    QCommandLineOption srv_port_option(QStringList() << "server_port",
+                                       "Server port number (defaults to 1667)",
+                                       "server_port");
+    parser.addOption(srv_port_option);
+    QCommandLineOption autoconnect_option(QStringList() << "autoconnect",
+                                          "Autoconnect to monitor");
+    parser.addOption(autoconnect_option);
+
     parser.process( app );
 
     QFile styleFile( ":/stylesheet.qss" );
@@ -88,7 +105,15 @@ main(int argc, char *argv[])
             mode = dialog.getGraphicMode();
         }
 
-        MainWindow win( mode );
+        // Get the monitor options.
+        const QString monitor_address = parser.value(address_option);
+        const QString monitor_pub_port = parser.value(pub_port_option);
+        const QString monitor_srv_port = parser.value(srv_port_option);
+        const bool monitor_autoconnect = parser.isSet(autoconnect_option);
+
+        // Start the main application.
+        MainWindow win( mode, monitor_address, monitor_pub_port,
+                        monitor_srv_port, monitor_autoconnect );
         win.show();
         return app.exec();
     }