run updated clang-format

.clang-format

@@ -42,6 +42,7 @@ SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
 SpaceAfterControlStatementKeyword: true
 SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: Never
 ContinuationIndentWidth: 4
 SortIncludes: false
 SpaceAfterCStyleCast: false
@@ -61,7 +62,7 @@ BraceWrapping: {
     AfterUnion : 'true',
     BeforeCatch : 'true',
     BeforeElse : 'true',
-    IndentBraces : 'false'
+    IndentBraces : 'false',
     SplitEmptyFunction: 'false'
 }
 ...

.github/workflows/cmake_ubuntu.yml

@@ -19,13 +19,13 @@ jobs:
 
     steps:
     - uses: actions/checkout@v2
-      
+
     - name: Install Conan
       id: conan
       uses: turtlebrowser/get-conan@main
       with:
         version: 1.59.0
-      
+
     - name: Create default profile
       run: conan profile new default --detect
 
@@ -50,11 +50,10 @@ jobs:
       shell: bash
       working-directory: ${{github.workspace}}/build
       run: cmake --build . --config ${{env.BUILD_TYPE}}
-      
+
     - name: run test (Linux)
       working-directory: ${{github.workspace}}/build
       run: ./tests/behaviortree_cpp_test
-      
+
     - name: Upload coverage reports to Codecov
       uses: codecov/codecov-action@v3
-

.github/workflows/cmake_windows.yml

@@ -19,13 +19,13 @@ jobs:
 
     steps:
     - uses: actions/checkout@v2
-    
+
     - name: Install Conan
       id: conan
       uses: turtlebrowser/get-conan@main
       with:
         version: 1.59.0
-      
+
     - name: Create default profile
       run: conan profile new default --detect
 
@@ -47,8 +47,7 @@ jobs:
       working-directory: ${{github.workspace}}/build
       shell: bash
       run: cmake --build . --config ${{env.BUILD_TYPE}}
-      
+
     - name: run test (Windows)
       working-directory: ${{github.workspace}}/build
       run: $env:PATH+=";${{env.BUILD_TYPE}}"; tests/${{env.BUILD_TYPE}}/behaviortree_cpp_test.exe
-

.github/workflows/pixi.yaml

@@ -51,8 +51,4 @@ jobs:
         working-directory: ${{github.workspace}}/build-env
         run: |
           pixi task add tests ${{ matrix.tests_command }}
-          pixi run tests 
-          
-
-    
-
+          pixi run tests

.pre-commit-config.yaml

@@ -13,7 +13,7 @@
 #
 # See https://github.com/pre-commit/pre-commit
 
-exclude: ^3rdparty/|3rdparty
+exclude: ^3rdparty/|3rdparty|^include/behaviortree_cpp/contrib/
 repos:
 
   # Standard hooks

CMakeLists.txt

@@ -220,4 +220,3 @@ INSTALL( DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
     FILES_MATCHING PATTERN "*.h*")
 
 export_btcpp_package()
-

LICENSE

@@ -19,4 +19,3 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-

cmake/conan.cmake

@@ -146,7 +146,7 @@ macro(_conan_detect_compiler)
                 set(COMPILER_VERSION ${MAJOR})
             else()
                 set(COMPILER_VERSION ${MAJOR}.${MINOR})
-            endif()    
+            endif()
         elseif (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL QCC)
             set(_CONAN_SETTING_COMPILER qcc)
             set(COMPILER_VERSION ${MAJOR}.${MINOR})
@@ -180,7 +180,7 @@ macro(_conan_detect_compiler)
             set(COMPILER_VERSION ${MAJOR})
         else()
             set(COMPILER_VERSION ${MAJOR}.${MINOR})
-        endif() 
+        endif()
 
         set(_CONAN_SETTING_COMPILER_VERSION ${COMPILER_VERSION})
 
@@ -190,7 +190,7 @@ macro(_conan_detect_compiler)
             set(_CONAN_SETTING_COMPILER_LIBCXX ${_LIBCXX})
         endif ()
     elseif (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL Clang
-                AND NOT "${CMAKE_${LANGUAGE}_COMPILER_FRONTEND_VARIANT}" STREQUAL "MSVC" 
+                AND NOT "${CMAKE_${LANGUAGE}_COMPILER_FRONTEND_VARIANT}" STREQUAL "MSVC"
                 AND NOT "${CMAKE_${LANGUAGE}_SIMULATE_ID}" STREQUAL "MSVC")
 
         string(REPLACE "." ";" VERSION_LIST ${CMAKE_${LANGUAGE}_COMPILER_VERSION})
@@ -203,7 +203,7 @@ macro(_conan_detect_compiler)
             set(COMPILER_VERSION ${MAJOR})
         else()
             set(COMPILER_VERSION ${MAJOR}.${MINOR})
-        endif() 
+        endif()
 
         set(_CONAN_SETTING_COMPILER_VERSION ${COMPILER_VERSION})
 
@@ -219,8 +219,8 @@ macro(_conan_detect_compiler)
             set(_CONAN_SETTING_COMPILER_LIBCXX ${_LIBCXX})
         endif ()
     elseif(${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL MSVC
-                OR (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL Clang 
-                    AND "${CMAKE_${LANGUAGE}_COMPILER_FRONTEND_VARIANT}" STREQUAL "MSVC" 
+                OR (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL Clang
+                    AND "${CMAKE_${LANGUAGE}_COMPILER_FRONTEND_VARIANT}" STREQUAL "MSVC"
                     AND "${CMAKE_${LANGUAGE}_SIMULATE_ID}" STREQUAL "MSVC"))
 
         set(_VISUAL "Visual Studio")
@@ -475,7 +475,7 @@ function(conan_cmake_autodetect detected_settings)
 endfunction()
 
 macro(conan_parse_arguments)
-    set(options         BASIC_SETUP CMAKE_TARGETS UPDATE KEEP_RPATHS NO_LOAD NO_OUTPUT_DIRS 
+    set(options         BASIC_SETUP CMAKE_TARGETS UPDATE KEEP_RPATHS NO_LOAD NO_OUTPUT_DIRS
                         OUTPUT_QUIET NO_IMPORTS SKIP_STD)
     set(oneValueArgs    CONANFILE ARCH BUILD_TYPE INSTALL_FOLDER OUTPUT_FOLDER CONAN_COMMAND)
     set(multiValueArgs  DEBUG_PROFILE RELEASE_PROFILE RELWITHDEBINFO_PROFILE MINSIZEREL_PROFILE
@@ -656,11 +656,11 @@ function(conan_cmake_install)
     if(DEFINED NO_IMPORTS)
         set(NO_IMPORTS --no-imports)
     endif()
-    set(install_args install  ${PATH_OR_REFERENCE} ${REFERENCE} ${UPDATE} ${NO_IMPORTS} ${REMOTE} 
-                              ${LOCKFILE} ${LOCKFILE_OUT} ${LOCKFILE_NODE_ID} ${INSTALL_FOLDER} 
-                              ${OUTPUT_FOLDER} ${GENERATOR} ${BUILD} ${ENV} ${ENV_HOST} ${ENV_BUILD} 
-                              ${OPTIONS} ${OPTIONS_HOST} ${OPTIONS_BUILD} ${PROFILE} ${PROFILE_HOST} 
-                              ${PROFILE_BUILD} ${SETTINGS} ${SETTINGS_HOST} ${SETTINGS_BUILD} 
+    set(install_args install  ${PATH_OR_REFERENCE} ${REFERENCE} ${UPDATE} ${NO_IMPORTS} ${REMOTE}
+                              ${LOCKFILE} ${LOCKFILE_OUT} ${LOCKFILE_NODE_ID} ${INSTALL_FOLDER}
+                              ${OUTPUT_FOLDER} ${GENERATOR} ${BUILD} ${ENV} ${ENV_HOST} ${ENV_BUILD}
+                              ${OPTIONS} ${OPTIONS_HOST} ${OPTIONS_BUILD} ${PROFILE} ${PROFILE_HOST}
+                              ${PROFILE_BUILD} ${SETTINGS} ${SETTINGS_HOST} ${SETTINGS_BUILD}
                               ${CONF} ${CONF_HOST} ${CONF_BUILD})
 
     string(REPLACE ";" " " _install_args "${install_args}")
@@ -764,12 +764,12 @@ function(conan_cmake_lock_create)
         set(BASE --base)
     endif()
     set(lock_create_Args lock create ${PATH} ${REFERENCE} ${UPDATE} ${BASE} ${REMOTE} ${LOCKFILE} ${LOCKFILE_OUT} ${LOCKFILE_NODE_ID} ${INSTALL_FOLDER}
-                                ${GENERATOR} ${BUILD} ${ENV} ${ENV_HOST} ${ENV_BUILD} ${OPTIONS} ${OPTIONS_HOST} ${OPTIONS_BUILD} 
+                                ${GENERATOR} ${BUILD} ${ENV} ${ENV_HOST} ${ENV_BUILD} ${OPTIONS} ${OPTIONS_HOST} ${OPTIONS_BUILD}
                                 ${PROFILE} ${PROFILE_HOST} ${PROFILE_BUILD} ${SETTINGS} ${SETTINGS_HOST} ${SETTINGS_BUILD})
 
     string(REPLACE ";" " " _lock_create_Args "${lock_create_Args}")
     message(STATUS "Conan executing: ${CONAN_CMD} ${_lock_create_Args}")
-    
+
     if(ARGS_OUTPUT_QUIET)
       set(OUTPUT_OPT OUTPUT_QUIET)
     endif()
@@ -1083,7 +1083,7 @@ function(conan_cmake_profile)
     set(profileMultiValueArgs SETTINGS OPTIONS CONF ENV BUILDENV RUNENV TOOL_REQUIRES)
     cmake_parse_arguments(ARGS "" "${profileOneValueArgs}" "${profileMultiValueArgs}" ${ARGN})
 
-    if(DEFINED ARGS_FILEPATH)  
+    if(DEFINED ARGS_FILEPATH)
         set(_FN "${ARGS_FILEPATH}")
     else()
         set(_FN "${CMAKE_CURRENT_BINARY_DIR}/profile")

contributors.txt

@@ -1,4 +1,3 @@
 Davide Faconti
 Michele Colledanchise
 Rocco Santomo
-

convert_v3_to_v4.py

@@ -170,4 +170,4 @@ class ArgsType(typing.NamedTuple):
 
 
 if __name__ == "__main__":
-    main()
+    main()

docs/substitution_sample.json

@@ -1,15 +1,15 @@
 {
-    "TestNodeConfigs": { 
-        "MyTest": {
-                "async_delay": 2000,
-                "return_status": "SUCCESS",
-                "post_script": "msg ='message SUBSTITUED'"
-        }
-    },   
-
-    "SubstitutionRules": {
-        "mysub/action_*": "TestAction",
-        "talk": "TestSaySomething",
-        "last_action": "MyTest"
+  "TestNodeConfigs": {
+    "MyTest": {
+      "async_delay": 2000,
+      "return_status": "SUCCESS",
+      "post_script": "msg ='message SUBSTITUED'"
     }
-}
+  },
+
+  "SubstitutionRules": {
+    "mysub/action_*": "TestAction",
+    "talk": "TestSaySomething",
+    "last_action": "MyTest"
+  }
+}

examples/broken_sequence.cpp

@@ -21,7 +21,7 @@ class ActionTestNode : public ActionNode
     time_ = 5;
     stop_loop_ = false;
     int i = 0;
-    while (!stop_loop_ && i++ < time_)
+    while(!stop_loop_ && i++ < time_)
     {
       std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
@@ -51,7 +51,7 @@ int main()
 
   NodeStatus status = NodeStatus::RUNNING;
 
-  while (status == NodeStatus::RUNNING)
+  while(status == NodeStatus::RUNNING)
   {
     status = root.executeTick();
 

examples/ex01_wrap_legacy.cpp

@@ -20,7 +20,7 @@ class MyLegacyMoveTo
   bool go(Point3D goal)
   {
     printf("Going to: %f %f %f\n", goal.x, goal.y, goal.z);
-    return true;   // true means success in my legacy code
+    return true;  // true means success in my legacy code
   }
 };
 
@@ -33,7 +33,7 @@ Point3D convertFromString(StringView key)
 {
   // three real numbers separated by semicolons
   auto parts = BT::splitString(key, ';');
-  if (parts.size() != 3)
+  if(parts.size() != 3)
   {
     throw RuntimeError("invalid input)");
   }
@@ -46,7 +46,7 @@ Point3D convertFromString(StringView key)
     return output;
   }
 }
-}   // namespace BT
+}  // namespace BT
 
 // clang-format off
 static const char* xml_text = R"(
@@ -81,7 +81,7 @@ int main()
 
   // Register the lambda with BehaviorTreeFactory::registerSimpleAction
 
-  PortsList ports = {BT::InputPort<Point3D>("goal")};
+  PortsList ports = { BT::InputPort<Point3D>("goal") };
   factory.registerSimpleAction("MoveTo", MoveToWrapperWithLambda, ports);
 
   auto tree = factory.createTreeFromText(xml_text);

examples/ex02_runtime_ports.cpp

@@ -17,8 +17,8 @@ static const char* xml_text = R"(
 class ThinkRuntimePort : public BT::SyncActionNode
 {
 public:
-  ThinkRuntimePort(const std::string& name, const BT::NodeConfig& config) :
-    BT::SyncActionNode(name, config)
+  ThinkRuntimePort(const std::string& name, const BT::NodeConfig& config)
+    : BT::SyncActionNode(name, config)
   {}
 
   BT::NodeStatus tick() override
@@ -31,15 +31,15 @@ class ThinkRuntimePort : public BT::SyncActionNode
 class SayRuntimePort : public BT::SyncActionNode
 {
 public:
-  SayRuntimePort(const std::string& name, const BT::NodeConfig& config) :
-    BT::SyncActionNode(name, config)
+  SayRuntimePort(const std::string& name, const BT::NodeConfig& config)
+    : BT::SyncActionNode(name, config)
   {}
 
   // You must override the virtual function tick()
   BT::NodeStatus tick() override
   {
     auto msg = getInput<std::string>("message");
-    if (!msg)
+    if(!msg)
     {
       throw BT::RuntimeError("missing required input [message]: ", msg.error());
     }
@@ -54,12 +54,12 @@ int main()
 
   //-------- register ports that might be defined at runtime --------
   // more verbose way
-  PortsList think_ports = {BT::OutputPort<std::string>("text")};
+  PortsList think_ports = { BT::OutputPort<std::string>("text") };
   factory.registerBuilder(
       CreateManifest<ThinkRuntimePort>("ThinkRuntimePort", think_ports),
       CreateBuilder<ThinkRuntimePort>());
   // less verbose way
-  PortsList say_ports = {BT::InputPort<std::string>("message")};
+  PortsList say_ports = { BT::InputPort<std::string>("message") };
   factory.registerNodeType<SayRuntimePort>("SayRuntimePort", say_ports);
 
   factory.registerBehaviorTreeFromText(xml_text);