| 49 | }; |
| 50 | |
| 51 | int main() |
| 52 | { |
| 53 | BehaviorTreeFactory factory; |
| 54 | |
| 55 | //-------- register ports that might be defined at runtime -------- |
| 56 | // more verbose way |
| 57 | PortsList think_ports = { BT::OutputPort<std::string>("text") }; |
| 58 | factory.registerBuilder( |
| 59 | CreateManifest<ThinkRuntimePort>("ThinkRuntimePort", think_ports), |
| 60 | CreateBuilder<ThinkRuntimePort>()); |
| 61 | // less verbose way |
| 62 | PortsList say_ports = { BT::InputPort<std::string>("message") }; |
| 63 | factory.registerNodeType<SayRuntimePort>("SayRuntimePort", say_ports); |
| 64 | |
| 65 | factory.registerBehaviorTreeFromText(xml_text); |
| 66 | auto tree = factory.createTree("MainTree"); |
| 67 | tree.tickWhileRunning(); |
| 68 | |
| 69 | return 0; |
| 70 | } |
nothing calls this directly
no test coverage detected