From 610ec2329f00b6c033b2826448acae24b7b5f267 Mon Sep 17 00:00:00 2001
From: Stefano Bernagozzi <stefano.bernagozzi@iit.it>
Date: Thu, 1 Aug 2024 12:09:30 +0100
Subject: [PATCH] added modification discussed with charlie

Signed-off-by: Stefano Bernagozzi <stefano.bernagozzi@iit.it>
---
 .../BT/bt_charlie/bt_charlie.btproj           |  2 +
 .../bt_failure_management_charlie.xml         | 10 ++--
 .../BT/bt_charlie/bt_scheduler_charlie.xml    | 50 +++++++++++++++++++
 3 files changed, 57 insertions(+), 5 deletions(-)
 create mode 100644 laboratory-tour/src/behavior_tree/BT/bt_charlie/bt_scheduler_charlie.xml

diff --git a/laboratory-tour/src/behavior_tree/BT/bt_charlie/bt_charlie.btproj b/laboratory-tour/src/behavior_tree/BT/bt_charlie/bt_charlie.btproj
index 87c79c5..aaeed33 100644
--- a/laboratory-tour/src/behavior_tree/BT/bt_charlie/bt_charlie.btproj
+++ b/laboratory-tour/src/behavior_tree/BT/bt_charlie/bt_charlie.btproj
@@ -2,6 +2,8 @@
 <root BTCPP_format="3" project_name="Project">
     <include path="bt_failure_management_charlie.xml"/>
     <include path="bt_scheduler.xml"/>
+    <include path="bt_scheduler_3.xml"/>
+    <include path="bt_scheduler_charlie.xml"/>
     <include path="bt_scheduler_ifthenelse.xml"/>
     <!-- Description of Node Models (used by Groot) -->
     <TreeNodesModel>
diff --git a/laboratory-tour/src/behavior_tree/BT/bt_charlie/bt_failure_management_charlie.xml b/laboratory-tour/src/behavior_tree/BT/bt_charlie/bt_failure_management_charlie.xml
index 48b419c..b32a95b 100644
--- a/laboratory-tour/src/behavior_tree/BT/bt_charlie/bt_failure_management_charlie.xml
+++ b/laboratory-tour/src/behavior_tree/BT/bt_charlie/bt_failure_management_charlie.xml
@@ -67,16 +67,16 @@
     <ReactiveSequence>
       <SubTree ID="NetworkManagement"/>
       <SubTree ID="BatteryManagement"/>
-      <Sequence>
-        <ReactiveFallback>
-          <SubTree ID="PoiScheduler_ite"/>
+      <ReactiveFallback>
+        <ReactiveSequence>
+          <SubTree ID="PoiScheduler_Charlie"/>
           <SubTree ID="DoStuff"/>
-        </ReactiveFallback>
+        </ReactiveSequence>
         <ROS2Action name="ResetTour"
                     interface="ROS2SERVICE"
                     isMonitored="false"
                     nodeName=""/>
-      </Sequence>
+      </ReactiveFallback>
     </ReactiveSequence>
   </BehaviorTree>
 
diff --git a/laboratory-tour/src/behavior_tree/BT/bt_charlie/bt_scheduler_charlie.xml b/laboratory-tour/src/behavior_tree/BT/bt_charlie/bt_scheduler_charlie.xml
new file mode 100644
index 0000000..086297d
--- /dev/null
+++ b/laboratory-tour/src/behavior_tree/BT/bt_charlie/bt_scheduler_charlie.xml
@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<root BTCPP_format="3">
+  <BehaviorTree ID="PoiScheduler_Charlie">
+    <Fallback>
+      <Sequence>
+        <Inverter>
+          <ROS2Condition name="Poi1Done"
+                         interface="ROS2SERVICE"
+                         isMonitored="false"
+                         nodeName=""/>
+        </Inverter>
+        <ROS2Action name="SetPoi1"
+                    interface="ROS2SERVICE"
+                    isMonitored="false"
+                    nodeName=""/>
+      </Sequence>
+      <Sequence>
+        <Inverter>
+          <ROS2Condition name="Poi2Done"
+                         interface="ROS2SERVICE"
+                         isMonitored="false"
+                         nodeName=""/>
+        </Inverter>
+        <ROS2Action name="SetPoi2"
+                    interface="ROS2SERVICE"
+                    isMonitored="false"
+                    nodeName=""/>
+      </Sequence>
+    </Fallback>
+  </BehaviorTree>
+
+  <!-- Description of Node Models (used by Groot) -->
+  <TreeNodesModel>
+    <Action ID="ROS2Action">
+      <input_port name="interface"
+                  default="ROS2SERVICE"/>
+      <input_port name="isMonitored"
+                  default="false"/>
+      <input_port name="nodeName"/>
+    </Action>
+    <Condition ID="ROS2Condition">
+      <input_port name="interface"
+                  default="ROS2SERVICE"/>
+      <input_port name="isMonitored"
+                  default="false"/>
+      <input_port name="nodeName"/>
+    </Condition>
+  </TreeNodesModel>
+
+</root>