Tutorial 6: Ports remapping

翻译自：https://www.behaviortree.dev

Remapping ports between Trees and SubTrees [在树和子树之间重新映射端口]

In the CrossDoor example we saw that a SubTree looks like a single leaf Node from the point of view of its parent (MainTree in the example). [在 CrossDoor 示例中，我们看到从父节点（示例中的 MainTree）的角度来看，子树看起来像单个叶节点。]

Furthermore, to avoid name clashing in very large trees, any tree and subtree use a different instance of the Blackboard. [此外，为避免在非常大的树中出现名称冲突，任何树和子树都使用不同的 Blackboard 实例。]

For this reason, we need to explicitly connect the ports of a tree to those of its subtrees. [出于这个原因，我们需要将树的端口显式连接到其子树的端口。]

Once again, you won’t need to modify your C++ implementation since this remapping is done entirely in the XML definition. [再一次，您不需要修改 C++ 实现，因为重新映射完全在 XML 定义中完成。]

Example

Let’s consider this Beahavior Tree. [让我们考虑一下这个行为树。]

<root main_tree_to_execute = "MainTree">

    <BehaviorTree ID="MainTree">

        <Sequence name="main_sequence">
            <SetBlackboard output_key="move_goal" value="1;2;3" />
            <SubTree ID="MoveRobot" target="move_goal" output="move_result" />
            <SaySomething message="{move_result}"/>
        </Sequence>

    </BehaviorTree>

    <BehaviorTree ID="MoveRobot">
        <Fallback name="move_robot_main">
            <SequenceStar>
                <MoveBase       goal="{target}"/>
                <SetBlackboard output_key="output" value="mission accomplished" />
            </SequenceStar>
            <ForceFailure>
                <SetBlackboard output_key="output" value="mission failed" />
            </ForceFailure>
        </Fallback>
    </BehaviorTree>

</root>

You may notice that: [您可能会注意到：]

• We have a MainTree that includes a subtree called MoveRobot. [我们有一个 MainTree，其中包含一个名为 MoveRobot 的子树。]
• We want to “connect” (i.e. “remap”) ports inside the MoveRobot subtree with other ports in the MainTree. [我们希望将 MoveRobot 子树中的端口与 MainTree 中的其他端口“连接”（即“重新映射”）。]
• This is done using the XMl tag , where the words internal/external refer respectively to a subtree and its parent. [这是使用 XMl 标记完成的，其中内部/外部词分别指子树及其父树。]

The following image shows remapping between these two different trees. [下图显示了这两个不同树之间的重新映射。]

Note that this diagram represents the dataflow and the entries in the respective blackboard, not the relationship in terms of Behavior Trees. [请注意，此图表示相应黑板上的数据流和条目，而不是行为树方面的关系。]

In terms of C++, we don’t need to do much. For debugging purpose, we may show some information about the current state of a blackboard with the method debugMessage(). [在 C++ 方面，我们不需要做太多事情。出于调试目的，我们可以使用 debugMessage() 方法显示有关黑板当前状态的一些信息。]

int main()
{
    BT::BehaviorTreeFactory factory;

    factory.registerNodeType<SaySomething>("SaySomething");
    factory.registerNodeType<MoveBaseAction>("MoveBase");

    auto tree = factory.createTreeFromText(xml_text);

    NodeStatus status = NodeStatus::RUNNING;
    // Keep on ticking until you get either a SUCCESS or FAILURE state
    while( status == NodeStatus::RUNNING)
    {
        status = tree.tickRoot();
        // IMPORTANT: add sleep to avoid busy loops.
        // You should use Tree::sleep(). Don't be afraid to run this at 1 KHz.
        tree.sleep( std::chrono::milliseconds(1) );
    }

    // let's visualize some information about the current state of the blackboards.
    std::cout << "--------------" << std::endl;
    tree.blackboard_stack[0]->debugMessage();
    std::cout << "--------------" << std::endl;
    tree.blackboard_stack[1]->debugMessage();
    std::cout << "--------------" << std::endl;

    return 0;
}

/* Expected output:

    [ MoveBase: STARTED ]. goal: x=1 y=2.0 theta=3.00
    [ MoveBase: FINISHED ]
    Robot says: mission accomplished
    --------------
    move_result (std::string) -> full
    move_goal (Pose2D) -> full
    --------------
    output (std::string) -> remapped to parent [move_result]
    target (Pose2D) -> remapped to parent [move_goal]
    --------------
*/