{

BT::BehaviorTreeFactory factory;

// register all the actions into the factory

// We don't show how these actions are implemented, since most of the

// times they just print a message on screen and return SUCCESS.

// See the code on Github for more details.

factory.registerSimpleCondition("IsDoorOpen", std::bind(T05DummyNodes::IsDoorOpen));

factory.registerSimpleAction("PassThroughDoor", std::bind(T05DummyNodes::PassThroughDoor));

factory.registerSimpleAction("PassThroughWindow", std::bind(T05DummyNodes::PassThroughWindow));

factory.registerSimpleAction("OpenDoor", std::bind(T05DummyNodes::OpenDoor));

factory.registerSimpleAction("CloseDoor", std::bind(T05DummyNodes::CloseDoor));

factory.registerSimpleCondition("IsDoorLocked", std::bind(T05DummyNodes::IsDoorLocked));

factory.registerSimpleAction("UnlockDoor", std::bind(T05DummyNodes::UnlockDoor));

// Load from text or file...

auto tree = factory.createTreeFromText(xml_text);

// This logger prints state changes on console

BT::StdCoutLogger logger_cout(tree);

// This logger saves state changes on file

BT::FileLogger logger_file(tree, "bt_trace.fbl");

// This logger stores the execution time of each node

BT::MinitraceLogger logger_minitrace(tree, "bt_trace.json");

#ifdef ZMQ_FOUND

// This logger publish status changes using ZeroMQ. Used by Groot

BT::PublisherZMQ publisher_zmq(tree);

#endif

printTreeRecursively(tree.rootNode());

//while (1)

{

BT::NodeStatus status = BT::NodeStatus::RUNNING;

// Keep on ticking until you get either a SUCCESS or FAILURE state

while (status == BT::NodeStatus::RUNNING)

{

status = tree.tickRoot();

T05DummyNodes::SleepMS(1); // optional sleep to avoid "busy loops"

}

T05DummyNodes::SleepMS(2000);

}

return 0;