62 lines
1.8 KiB
XML
62 lines
1.8 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
|
|
<root BTCPP_format="4">
|
|
<BehaviorTree ID="tactic_base">
|
|
<Sequence>
|
|
<I2CSignal Address="66"
|
|
Data="1"
|
|
Result="{tactic_id}"
|
|
action_name="/i2c_action"/>
|
|
<SideObstaclePub tactic="{tactic_id}"
|
|
topic_name="/side"/>
|
|
<TacticChooser IsBlue="{isBlue}"
|
|
tactic="{tactic}"
|
|
number="{tactic_id}"/>
|
|
<SubTree ID="tactic_default_yellow"
|
|
_skipIf="isBlue"
|
|
_autoremap="false"/>
|
|
<SubTree ID="tatic_default_blue"
|
|
_skipIf="!isBlue"/>
|
|
</Sequence>
|
|
</BehaviorTree>
|
|
|
|
<BehaviorTree ID="tactic_default_yellow">
|
|
<AlwaysSuccess/>
|
|
</BehaviorTree>
|
|
|
|
<BehaviorTree ID="tatic_default_blue">
|
|
<AlwaysFailure/>
|
|
</BehaviorTree>
|
|
|
|
<!-- Description of Node Models (used by Groot) -->
|
|
<TreeNodesModel>
|
|
<Action ID="I2CSignal">
|
|
<input_port name="Address"
|
|
default="42"
|
|
type="int"/>
|
|
<input_port name="Data"
|
|
default="0"
|
|
type="int"/>
|
|
<output_port name="Result"
|
|
type="int"/>
|
|
<input_port name="action_name"
|
|
type="std::string">Action server name</input_port>
|
|
</Action>
|
|
<Condition ID="SideObstaclePub">
|
|
<input_port name="tactic"
|
|
type="int"/>
|
|
<input_port name="topic_name"
|
|
default="__default__placeholder__"
|
|
type="std::string">Topic name</input_port>
|
|
</Condition>
|
|
<Action ID="TacticChooser">
|
|
<output_port name="IsBlue"
|
|
type="int"/>
|
|
<output_port name="tactic"
|
|
type="int"/>
|
|
<input_port name="number"
|
|
type="int"/>
|
|
</Action>
|
|
</TreeNodesModel>
|
|
|
|
</root>
|