carlos-cardoso / arduino-behavior-tree

Script to parse Groot behavior trees and deploy in an Arduino Due

Arduino Behavior Tree

Example platformio project for the arduino due. Uses the beehive header only behavior trees library, and Groot for visual editing of trees.

Steps to run the project

1. Clone this repo and init submodules

   git clone https://github.com/carlos-cardoso/arduino_behavior_tree.git
   git submodule update --init --recursive
       

2. Install platformio

   pip install -U platformio
       

3. Install and use Groot to edit behavior trees.
4. Run the script to parse the tree xml created by Groot

   python3 pygroot.py simple_tree.xml
       

5. Compile and upload to arduino

   pio run -t upload
       

How to create your own project

The structure of the project is:

├── lib
│   └── behavior_tree
│       ├── context.cpp
│       └── Data.h
├── platformio.ini
├── pygroot.py
├── README.org
├── simple_tree.xml
└── src
    └── main.cpp

• context.cpp contains your implementations for the tree action and condition nodes
• Data.h contains the data structure for the tree state
• simple_tree.xml is the behavior tree created by Groot
• main.cpp initializes and runs the behavior tree

1. Edit the tree in Groot:

   

   This example tree will write to the led pin after 5 seconds have passed.

2. Run the script, this will create a file TREE.h and context.cpp in lib/behavior_tree

   python3 pygroot.py simple_tree.xml
       

3. If you created new nodes in Groot, you need to implement them in context.cpp
4. If you need more state, implement it in Data.h
5. Run your new tree

   pio run -t upload