Function BuildTreeFromScene

bt_editor/utils.cpp:266–312

AbsBehaviorTree BuildTreeFromScene(const QtNodes::FlowScene *scene,
                                   QtNodes::Node* root_node)
{
    if(!root_node )
    {
        root_node = findRoot( *scene );
    }
    if( !root_node )
    {
        if( scene->nodes().size() != 0)
        {
            qDebug() << "Error: can not create a tree from a scene unless it has a single root node ";
        }
        return AbsBehaviorTree();
    }

    AbsBehaviorTree tree;

    std::function<void(AbstractTreeNode*, QtNodes::Node*)> pushRecursively;

    pushRecursively = [&](AbstractTreeNode* parent, QtNodes::Node* node)
    {
        AbstractTreeNode abs_node;

        auto bt_model = dynamic_cast<BehaviorTreeDataModel*>(node->nodeDataModel());

        abs_node.model = bt_model->model();
        abs_node.instance_name = bt_model->instanceName();
        abs_node.pos  = scene->getNodePosition(*node) ;
        abs_node.size = scene->getNodeSize(*node);
        abs_node.graphic_node = node;
        abs_node.ports_mapping = bt_model->getCurrentPortMapping();

        auto added_node = tree.addNode( parent, std::move(abs_node) );

        auto children = getChildren( *scene, *node, true );

        for(auto& child_node: children )
        {
            pushRecursively( added_node, child_node );
        }
    };

    pushRecursively( nullptr, root_node );

    return tree;
}

AbsBehaviorTree BuildTreeFromXML(const QDomElement& bt_root, const NodeModels& models )
{