Step 1: Create Project Directory Шаг 1: Создание директории проекта

Create a workspace folder and a new directory for your BehaviorTree.CPP test project: Создайте рабочую папку для проектов и новую директорию для вашего тестового проекта BehaviorTree.CPP:

Windows (Command Prompt / PowerShell)

mkdir C:\projects\bt-test
cd C:\projects\bt-test

Ubuntu (Terminal)

mkdir -p ~/projects/bt-test
cd ~/projects/bt-test

Step 2: Create Source Files (main.cpp & CMakeLists.txt) Шаг 2: Создание исходных файлов (main.cpp и CMakeLists.txt)

You can create these files using Notepad / Sublime Text on Windows, or nano in Ubuntu terminal: Вы можете создать эти файлы через Блокнот / Sublime Text в Windows или с помощью nano в терминале Ubuntu:

Windows (Terminal / Notepad)

notepad main.cpp
notepad CMakeLists.txt

Ubuntu (Terminal / Nano)

nano main.cpp
nano CMakeLists.txt

1. File Contents for main.cpp 1. Содержимое файла main.cpp

#include <iostream>
#include <behaviortree_cpp/bt_factory.h>

// Custom action node
class SayHello : public BT::SyncActionNode {
public:
    SayHello(const std::string& name, const BT::NodeConfig& config)
        : BT::SyncActionNode(name, config) {}

    static BT::PortsList providedPorts() {
        return {};
    }

    BT::NodeStatus tick() override {
        std::cout << "Hello, BehaviorTree.CPP!" << std::endl;
        return BT::NodeStatus::SUCCESS;
    }
};

int main() {
    BT::BehaviorTreeFactory factory;
    factory.registerNodeType<SayHello>("SayHello");

    static const char* xml_text = R"(
     <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
             <SayHello/>
         </BehaviorTree>
     </root>
    )";

    auto tree = factory.createTreeFromText(xml_text);
    tree.tickWhileRunning();

    return 0;
}

2. File Contents for CMakeLists.txt 2. Содержимое файла CMakeLists.txt

set(CMAKE_BUILD_TYPE "Debug")

cmake_minimum_required(VERSION 3.21)
project(bt_test CXX)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# -----------------------------------------------------------------------------
# Define Project Source Files
# -----------------------------------------------------------------------------
set(PROJECT_SOURCES
    main.cpp
)

# -----------------------------------------------------------------------------
# Declare Target Type based on OS
# -----------------------------------------------------------------------------
add_executable(app)

# Attach sources to the target dynamically
target_sources(app PRIVATE ${PROJECT_SOURCES})

# -----------------------------------------------------------------------------
# Platform Linking & Dependencies
# -----------------------------------------------------------------------------
if(WIN32)
    set(BTCPP_PATH "C:/libs/behaviortree-4.9.0-mingw")
    set(TINYXML2_PATH "C:/libs/tinyxml2-11.0.0-mingw")

    # Core TinyXML2 Static Library
    add_library(tinyxml2 STATIC IMPORTED)
    set_target_properties(tinyxml2 PROPERTIES
        IMPORTED_LOCATION "${TINYXML2_PATH}/lib/libtinyxml2.a"
        INTERFACE_INCLUDE_DIRECTORIES "${TINYXML2_PATH}/include"
    )

    # BehaviorTree.CPP Static Library
    add_library(behaviortree_cpp STATIC IMPORTED)
    set_target_properties(behaviortree_cpp PROPERTIES
        IMPORTED_LOCATION "${BTCPP_PATH}/lib/libbehaviortree_cpp.a"
        INTERFACE_INCLUDE_DIRECTORIES "${BTCPP_PATH}/include"
        INTERFACE_LINK_LIBRARIES "tinyxml2"
    )

    target_link_libraries(app PRIVATE
        behaviortree_cpp
        tinyxml2
    )

    target_compile_options(app PRIVATE -Os)
    target_link_options(app PRIVATE -static -s -static-libgcc)

    if(CMAKE_BUILD_TYPE STREQUAL "Debug")
        target_link_options(app PRIVATE -mconsole)
    else()
        target_link_options(app PRIVATE -mwindows)
    endif()

else()
    set(BTCPP_PATH "$ENV{HOME}/libs/behaviortree-4.9.0-ubuntu")
    set(TINYXML2_PATH "$ENV{HOME}/libs/tinyxml2-11.0.0-ubuntu")

    # Core TinyXML2 Static Library
    add_library(tinyxml2 STATIC IMPORTED)
    set_target_properties(tinyxml2 PROPERTIES
        IMPORTED_LOCATION "${TINYXML2_PATH}/lib/libtinyxml2.a"
        INTERFACE_INCLUDE_DIRECTORIES "${TINYXML2_PATH}/include"
    )

    # BehaviorTree.CPP Static Library
    add_library(behaviortree_cpp STATIC IMPORTED)
    set_target_properties(behaviortree_cpp PROPERTIES
        IMPORTED_LOCATION "${BTCPP_PATH}/lib/libbehaviortree_cpp.a"
        INTERFACE_INCLUDE_DIRECTORIES "${BTCPP_PATH}/include"
        INTERFACE_LINK_LIBRARIES "tinyxml2;pthread;dl"
    )

    target_link_libraries(app PRIVATE
        behaviortree_cpp
        tinyxml2
    )
endif()

Step 3: Create Build & Execution Scripts Шаг 3: Создание скриптов сборки и запуска

Windows (MinGW / Batch Scripts)

config-exe.bat

cmake -G Ninja -S . -B dist/win

build-exe.bat

cmake --build dist/win

run-exe.bat

@echo off
.\dist\win\app.exe

Run the scripts sequentially in Command Prompt or PowerShell: Последовательно запустите скрипты в командной строке или PowerShell:

config-exe.bat
build-exe.bat
run-exe.bat

Ubuntu (Bash Scripts)

config-bin.sh

#!/usr/bin/env bash
set -e
cmake -G Ninja -S . -B dist/linux

build-bin.sh

#!/usr/bin/env bash
set -e
cmake --build dist/linux

run-bin.sh

#!/usr/bin/env bash
set -e
./dist/linux/app

Grant execute permissions on Ubuntu before running: Предоставьте права на выполнение в Ubuntu перед запуском:

chmod +x config-bin.sh build-bin.sh run-bin.sh
./config-bin.sh
./build-bin.sh
./run-bin.sh

Step 4: Expected Output Шаг 4: Ожидаемый результат

After running the build and execution scripts, you should see output similar to this: После запуска скриптов сборки и выполнения вы должны увидеть результат, похожий на следующий:

Hello, BehaviorTree.CPP!