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Implement Python bindings#634

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kylc wants to merge 43 commits intoBehaviorTree:masterBehaviorTree/BehaviorTree.CPP:masterfrom kylc:kylc/python-bindingskylc/BehaviorTree.CPP:kylc/python-bindingsCopy head branch name to clipboard

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Commits on Aug 13, 2023

• Implement minimal Python bindings to SyncActionNode

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• Add stateful action bindings.

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• Eliminate some code duplication.

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• Use proper PYBIND11_OVERRIDE macros.

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• Export minimal set of identifiers to Python lib.

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• Clean up port handling.

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• Put generic methods on abstract base class.

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• Ignore pycache.

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• Return None if blackboard value doesn't exist.

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• Add builder args to be passed to node ctors.

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• Add ROS2 interop example.

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• Add simple README.

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• Add note about Py_getInput return value.

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• Fix NodeStatus enum value ordering.

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• Fix typo in ex04.

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• Add useful command for ex04.

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Commits on Aug 19, 2023

• Fix onHalted override copy-paste error.

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• Disable zero variadic arg warning.

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Commits on Aug 20, 2023

• Implement C++ <-> Python type interop via JSON.

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• Add `BehaviorTreeFactory.register_from_plugin` binding.

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• Add pybind11 conan dependency.

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• Implement coroutine-based Python nodes.

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Commits on Sep 2, 2023

• Add missing pybind11 dependency to package.xml

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• Move some dummy_nodes definitions to cpp file to fix linker error

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• Clean up Python ex06.

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• Use docstring as tree node description.

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• Add pyproject.toml/setup.py for building wheels.

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• Modify py::type argument to support older pybind

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Commits on Sep 3, 2023

• Clean up Python example XMLs.

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• Move Python-related source files into subdirectory.

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Commits on Sep 4, 2023

• Add some type hints to the Python code

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• Add some docs to Python ex06.

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Commits on Sep 5, 2023

• Don't make Py_StatefulActionNode final.

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• Fix some string-embedded XML indentation.

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• Formatting.

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• Improve python example README

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• Add `halt_tree` binding and use in demo

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• Add default impl of AsyncActionNode#on_halted

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• Add docs for `JsonExporter::fromJson`.

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Commits on Sep 6, 2023

• Properly specify __all__ for btpy module.

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• Clean up dummy node use in ex05.

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• Add useful note for ex05 on shared lib location.

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• Fix setup.py package attributes.

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