Function main

examples/t11_groot_howto.cpp:160–207

// clang-format on

int main()
{
  BT::BehaviorTreeFactory factory;

  // Nodes registration, as usual
  CrossDoor cross_door;
  cross_door.registerNodes(factory);
  factory.registerNodeType<UpdatePosition>("UpdatePosition");

  // 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.
  [[maybe_unused]] const std::string xml_models = BT::writeTreeNodesModelXML(factory);

  factory.registerBehaviorTreeFromText(xml_text);

  // Add this to allow Groot2 to visualize your custom type
  BT::RegisterJsonDefinition<Position2D>();
  BT::RegisterJsonDefinition<Waypoint>();

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

  std::cout << "----------- XML file  ----------\n"
            << BT::WriteTreeToXML(tree, false, false)
            << "--------------------------------\n";

  // Connect the Groot2Publisher. This will allow Groot2 to
  // get the tree and poll status updates.
  const unsigned port = 1667;
  BT::Groot2Publisher publisher(tree, port);

  // Add two more loggers, to save the transitions into a file.
  // Both formats are compatible with Groot2

  // Logging with lightweight serialization
  BT::FileLogger2 logger2(tree, "t11_groot_howto.btlog");
  BT::MinitraceLogger minilog(tree, "minitrace.json");

  while(true)
  {
    std::cout << "Start" << std::endl;
    cross_door.reset();
    tree.tickWhileRunning();
    std::this_thread::sleep_for(std::chrono::milliseconds(2000));
  }

  return 0;
}