prepare release 4.6

CHANGELOG.rst

@@ -2,6 +2,37 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* add tutorial 19 about the global blackboard
+* renamed examples to match website
+* Update TestNode and the corresponding tutorial
+* bug fixes related to sequence_id and unit tests added
+* Add string concatenation operator to scripting (`#802 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/802>`_)
+* Add library alias for BT::behaviortree_cpp (`#808 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/808>`_)
+* add Time Stamped blackboard (`#805 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/805>`_)
+* add additional information and functionality to SQLiteLogger
+* add syntax for entries in the root blackboard ("@" prefix)
+* Fix/pixi build (`#791 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/791>`_)
+* fix unit tests in Windows
+* fix windows compilation
+* Update cmake_windows.yml
+* Deprecate Balckboard::clear(). Issue `#794 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/794>`_
+* Support string vector conversion for ports (`#790 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/790>`_)
+* add more convertToString for integers
+* warn about overwritten enums
+* fix ambiguous to_json
+* Extend unit test for blackboard backup to run the second tree (`#789 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/789>`_)
+* json convertion changed and
+* issue `#755 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/755>`_ : add backchaining test and change reactive nodes checks (`#770 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/770>`_)
+* Update switch_node.h
+* test moved and port remapping fixed
+* Create pull_request_template.md
+
+* adding pre-commit
+* handle enums conversions is assignment
+* Contributors: Davide Faconti, Sean Geles, Sebastian Castro, Victor Massagué Respall, avikus-seonghyeon.kwon, tony-p
+
 4.5.2 (2024-03-07)
 ------------------
 * bugfix: string to enum/integer/boolean in scripts

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.16.3) # version on Ubuntu Focal
 
-project(behaviortree_cpp VERSION 4.5.2 LANGUAGES C CXX)
+project(behaviortree_cpp VERSION 4.6.0 LANGUAGES C CXX)
 
 set(CMAKE_CONFIG_PATH ${CMAKE_MODULE_PATH}  "${CMAKE_CURRENT_LIST_DIR}/cmake")
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CONFIG_PATH}")

README.md

@@ -1,12 +1,12 @@
 ![License MIT](https://img.shields.io/github/license/BehaviorTree/BehaviorTree.CPP?color=blue)
-![Version](https://img.shields.io/badge/version-4.5-blue.svg)
+![Version](https://img.shields.io/badge/version-4.6-blue.svg)
 [![conan Ubuntu](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_ubuntu.yml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_ubuntu.yml)
 [![conan Windows](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_windows.yml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_windows.yml)
 [![ros1](https://github.com/BehaviorTree/BehaviorTree.CPP/workflows/ros1/badge.svg?branch=master)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions?query=workflow%3Aros1)
 [![ros2](https://github.com/BehaviorTree/BehaviorTree.CPP/workflows/ros2/badge.svg?branch=master)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions?query=workflow%3Aros2)
 [![pixi (Conda)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/pixi.yaml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/pixi.yaml)
 
-# BehaviorTree.CPP 4.5
+# BehaviorTree.CPP 4.6
 
 <p align="center"><img width=350 src="animated.svg"></p>
 
@@ -40,14 +40,6 @@ You can learn about the main concepts, the API and the tutorials here: https://w
 If the documentation doesn't answer your questions and/or you want to
 connect with the other **BT.CPP** users, visit [our forum](https://github.com/BehaviorTree/BehaviorTree.CPP/discussions)
 
-## Previous version
-
-Version 3.8 of the software can be found in the branch
-[v3.8](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/v3.8).
-
-That branch might receive bug fixes, but the new features will be implemented
-only in the master branch.
-
 # GUI Editor
 
 Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
@@ -105,6 +97,13 @@ You can contact the primary author, **dfaconti@aurynrobotics.com**, to discuss y
 
 [![Star History Chart](https://api.star-history.com/svg?repos=BehaviorTree/BehaviorTree.CPP&type=Date)](https://star-history.com/#BehaviorTree/BehaviorTree.CPP&Date)
 
+## Previous version
+
+Version 3.8 of the software can be found in the branch
+[v3.8](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/v3.8).
+
+That branch might receive bug fixes, but the new features will be implemented
+only in the master branch.
 
 # License
 

examples/t10_observer.cpp

@@ -52,18 +52,14 @@ int main()
   // a certain set of transitions happened as expected
   BT::TreeObserver observer(tree);
 
+  std::map<int, std::string> UID_to_path;
+
   // Print the unique ID and the corresponding human readable path
   // Path is also expected to be unique.
-  std::map<uint16_t, std::string> ordered_UID_to_path;
-  for(const auto& [name, uid] : observer.pathToUID())
-  {
-    ordered_UID_to_path[uid] = name;
-  }
-
-  for(const auto& [uid, name] : ordered_UID_to_path)
-  {
-    std::cout << uid << " -> " << name << std::endl;
-  }
+  tree.applyVisitor([&UID_to_path](BT::TreeNode* node) {
+    UID_to_path[node->UID()] = node->fullPath();
+    std::cout << node->UID() << " -> " << node->fullPath() << std::endl;
+  });
 
   tree.tickWhileRunning();
 
@@ -73,7 +69,7 @@ int main()
 
   std::cout << "----------------" << std::endl;
   // print all the statistics
-  for(const auto& [uid, name] : ordered_UID_to_path)
+  for(const auto& [uid, name] : UID_to_path)
   {
     const auto& stats = observer.getStatistics(uid);
 

examples/t19_global_blackboard.cpp

@@ -53,15 +53,17 @@ class PrintNumber : public BT::SyncActionNode
     : BT::SyncActionNode(name, config)
   {}
 
-  // You must override the virtual function tick()
   NodeStatus tick() override
   {
     const int val = getInput<int>("val").value();
+    // If you prefer not having a port and accessing the top-level blackboard
+    // directly with an hardcoded address... you should question your own choices!
+    // But this is the way it is done
+    // val = config().blackboard-><int>("@value");
     std::cout << "[" << name() << "] val: " << val << std::endl;
     return NodeStatus::SUCCESS;
   }
 
-  // It is mandatory to define this static method.
   static BT::PortsList providedPorts()
   {
     return { BT::InputPort<int>("val") };
@@ -78,11 +80,12 @@ int main()
 
   // No one "own" this blackboard
   auto global_blackboard = BT::Blackboard::create();
-  // This blackboard will be owned by "MainTree". It parent is global_blackboard
+  // This blackboard will be owned by "MainTree". Its parent is global_blackboard
   auto root_blackboard = BT::Blackboard::create(global_blackboard);
 
   auto tree = factory.createTree("MainTree", root_blackboard);
 
+  // we can interact directly with global_blackboard
   for(int i = 1; i <= 3; i++)
   {
     global_blackboard->set("value", i);

include/behaviortree_cpp/blackboard.h

@@ -133,6 +133,8 @@ class Blackboard
    */
   void cloneInto(Blackboard& dst) const;
 
+  Blackboard::Ptr parent();
+
 private:
   mutable std::mutex mutex_;
   mutable std::recursive_mutex entry_mutex_;

src/blackboard.cpp

@@ -210,6 +210,15 @@ void Blackboard::cloneInto(Blackboard& dst) const
   }
 }
 
+Blackboard::Ptr Blackboard::parent()
+{
+  if(auto parent = parent_bb_.lock())
+  {
+    return parent;
+  }
+  return {};
+}
+
 std::shared_ptr<Blackboard::Entry> Blackboard::createEntryImpl(const std::string& key,
                                                                const TypeInfo& info)
 {