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Add _onlyIf and _onStart preconditions (#820, #895) - #1261
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- `_onlyIf="<script>"`: if false when the node is IDLE, return SKIPPED (the opposite of `_skipIf`, more readable in most cases). - `_onStart="<script>"`: execute a script right before the first tick() of the node, i.e. only if no other precondition returned a status. Useful to initialize or reset blackboard entries. Both are evaluated only when the node is IDLE/SKIPPED, like `_skipIf`. ONLY_IF and ON_START are appended at the end of PreCond, so the values of the existing ones don't change. Appending ONLY_IF after WHILE_TRUE keeps the semantics: SKIP_IF, WHILE_TRUE and ONLY_IF all return SKIPPED. Behavior change: the attribute names `_onlyIf` and `_onStart` are now reserved. Before, they were stored silently as non-port attributes and did nothing. Supersedes #821 and #932. Co-Authored-By: Darko Lukic <2135826+lukicdarkoo@users.noreply.github.com> Co-Authored-By: Aglargil <34728006+Aglargil@users.noreply.github.com> Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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…cument _onStart/_onlyIf caveats Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
…activeSequence, WriteTreeToXML) Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01ME1hnSFSzibU5phxboGsjk
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Master gained the _onlyIf/_onStart preconditions (BehaviorTree#1261) and the BTCPP_version root attribute (BehaviorTree#1264); the checked-in XSD was stale and the new 'generated schemas are up to date' CI step would fail. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01ME1hnSFSzibU5phxboGsjk
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* Add 'generic' parameter to writeTreeXSD() When generic=true, oneNodeGroup uses xs:any processContents="lax" instead of a closed xs:choice, allowing unknown custom node elements to pass validation. Top-level xs:element declarations are also emitted so that lax processing can still resolve and validate the known built-in node types by name. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Add generate_xsd tool Generates the generic XSD schema from the default factory (built-in nodes only) and prints it to stdout, suitable for use as a generic static validator that stays in sync with the built-in node inventory. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Fix non-deterministic port attribute order in writeTreeXSD() PortsList is an unordered_map so iterating it directly produced XSD attributes in hash-table order, which varies across runs and platforms. Sort ports into a std::map before emitting xs:attribute elements. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Add writeTreeSchematron() for cross-reference validation of BT XML files XSD alone cannot express constraints like "every custom node element used in a BehaviorTree body must have a matching TreeNodesModel entry" Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Add generate_schematron tool Generates an ISO Schematron schema (btcpp4.sch) complementing the generic XSD Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Add generated XSD and Schematron schemas * Add validate_xml.py - XSD and Schematron validation tool Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Only built-ins should go into generic xsd file * Add tests for writeTreeXSD() and writeTreeSchematron() Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Fix implicit conversion * Also handle inout_port in XSD * Fix reconfiguration after editing src/btcpp4_schematron.sch * Fix writeTreeXSD() signature not to break ABI * Change placeholder replacement logic for Schematron * Add more test cases for InsideXmlComment() * Add xsd and schematron checks to CI (intentionally broken) * Fix clang-format issues * Regenerate schemas to pass CI * Add guard for --no-xsd --no-sch together to validate_xml.py * Remove rule checking explicit notation against TreeNodeModel * Regenerate Schematron file * Add Schematron Rule B: explicit-notation node structure constraints Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Regenerate Schematron file * Drop insideXmlComment(): keep the placeholder out of the template comment insideXmlComment() was added to the public xml_parsing.h only so that writeTreeSchematron() could skip the ##BUILTIN_PIPE## placeholder where the template comment mentions it. Rewording the comment so it no longer contains the placeholder makes a plain replace-all enough, removes the helper from the public API, and also fixes the generated bt4.sch, whose comment still described an unexpanded placeholder. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> * Regenerate tools/generated/bt4.xsd for _onlyIf, _onStart, BTCPP_version Master gained the _onlyIf/_onStart preconditions (#1261) and the BTCPP_version root attribute (#1264); the checked-in XSD was stale and the new 'generated schemas are up to date' CI step would fail. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01ME1hnSFSzibU5phxboGsjk * Regenerate bt4.xsd and bt4.sch for the Finally node (#1229) Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01ME1hnSFSzibU5phxboGsjk --------- Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com> Co-authored-by: Davide Faconti <davide.faconti@gmail.com>
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Closes #820 and #895. Supersedes #821 (@lukicdarkoo) and #932 (@Aglargil), who are credited as co-authors.
_onlyIf="<script>": if false when the node is IDLE, return SKIPPED (the opposite of_skipIf)._onStart="<script>": run a script right before the firsttick()of the node, only if no other precondition returned a status first.Both are evaluated only when the node is IDLE/SKIPPED, like
_skipIf. Evaluation order:_failureIf,_successIf,_skipIf,_while,_onlyIf,_onStart.Compatibility
ONLY_IFandON_STARTare appended at the end ofPreCond(Add onlyIf precondition #821 insertedONLY_IFin the middle, which changed the existing values).PreCond::COUNT_andTreeNode::PreScriptsget longer, but binaries built against the old headers only read the first four entries, which have not changed.ONLY_IFafterWHILE_TRUEkeeps the semantics:_skipIf,_whileand_onlyIfall return SKIPPED, so their relative order doesn't matter._onlyIfand_onStartare now reserved attribute names. Before, they were stored silently as non-port attributes and did nothing._skipIfstopped working unless_onlyIfwas also present.Also updated
XSD precondition group,
docs/pre_postconditions.md,docs/name_validation_rules.md.Tests
5 new tests in
gtest_preconditions.cpp. They cover the order (_onStartruns after the checks and not when another precondition short-circuits), running once per execution (again after a halt), and_onlyIfvs_skipIfand_while. All 5 fail on master; 600/600 pass with this PR.🤖 Generated with Claude Code