Add starting code for Blackboard

app/other/behaviour_tree/include/behaviour_tree/Context.cpp

@@ -57,4 +57,14 @@ namespace behaviour_tree {
 	bool Context::canRun() const {
 		return this->behaviour_tree->canRun();
 	}
+
+    void Context::setBlackboard(const std::string &key, const int value)
+    {
+        this->blackboard[key] = value;
+    }
+
+    int Context::getBlackboard(const std::string &key) const
+    {
+        return this->blackboard.at(key);
+    }
 }

app/other/behaviour_tree/include/behaviour_tree/Context.h

@@ -8,6 +8,7 @@
 #include <string>
 #include <vector>
 #include <variant>
+#include <unordered_map>
 
 #include "Status.hpp"
 
@@ -40,11 +41,16 @@ namespace behaviour_tree
 
 		bool canRun() const;
 
+        void setBlackboard(const std::string& key, const int value);
+        int getBlackboard(const std::string& key) const;
+
 		// Necessary for the class to be a polymorphic
 		virtual void _() {};
 	private:
 		std::shared_ptr<BehaviourTree> behaviour_tree;
 		std::vector<std::pair<std::shared_ptr<node::Node>, int>> node_trace_list;
+
+        std::unordered_map<std::string, int> blackboard;
 	};
 }
 

app/other/behaviour_tree/include/behaviour_tree/node/blackboard/BlackboardLeaf.hpp

@@ -0,0 +1,19 @@
+#ifndef BEHAVIOUR_TREE_BLACKBOARD_LEAF_HPP
+#define BEHAVIOUR_TREE_BLACKBOARD_LEAF_HPP
+
+#pragma once
+
+#include "../Node.hpp"
+
+namespace behaviour_tree::node::blackboard
+{
+    class BlackboardLeaf : public Node
+    {
+    public:
+        BlackboardLeaf(const std::string& name) : Node(name)
+        {
+        }
+    };
+}
+
+#endif

app/other/behaviour_tree/include/behaviour_tree/node/blackboard/ChangeInteger.hpp

@@ -0,0 +1,36 @@
+#ifndef BEHAVIOUR_TREE_CHANGE_INTEGER_HPP
+#define BEHAVIOUR_TREE_CHANGE_INTEGER_HPP
+
+#pragma once
+
+#include "BlackboardLeaf.hpp"
+
+#include "enum/IntegerChangeType.hpp"
+
+namespace behaviour_tree::node::blackboard
+{
+    class ChangeInteger final : public BlackboardLeaf
+    {
+    public:
+        ChangeInteger(const std::string &name) : BlackboardLeaf(name) {}
+
+        const Status run(const int tick_count, std::shared_ptr<Context> context) final override
+        {
+        }
+
+        const std::string toString() const final override
+        {
+            const std::string &name = this->getName();
+            if (name != "")
+                return fmt::format(R"(<Blackboard:ChangeInteger name='{}' type='{}'/>)", name, out);
+            else
+                return fmt::format(R"(<Blackboard:ChangeInteger type='{}'/>)", out);
+        }
+
+    private:
+        std::string variable_name;
+        int value;
+    };
+}
+
+#endif

app/other/behaviour_tree/include/behaviour_tree/node/blackboard/IntegerCondition.hpp

@@ -0,0 +1,37 @@
+#ifndef BEHAVIOUR_TREE_CHANGE_INTEGER_HPP
+#define BEHAVIOUR_TREE_CHANGE_INTEGER_HPP
+
+#pragma once
+
+#include "BlackboardLeaf.hpp"
+
+#include "enum/ConditionOperatorType.hpp"
+
+namespace behaviour_tree::node::blackboard
+{
+    class IntegerCondition final : public BlackboardLeaf
+    {
+    public:
+        IntegerCondition(const std::string &name) : BlackboardLeaf(name) {}
+
+        const Status run(const int tick_count, std::shared_ptr<Context> context) final override
+        {
+        }
+
+        const std::string toString() const final override
+        {
+            const std::string &name = this->getName();
+            if (name != "")
+                return fmt::format(R"(<Blackboard:IntegerCondition name='{}' operator='{}'/>)", name, out);
+            else
+                return fmt::format(R"(<Blackboard:IntegerCondition operator='{}'/>)", out);
+        }
+
+    private:
+        std::string variable_name;
+        ConditionOperatorType operator;
+        int value;
+    };
+}
+
+#endif

app/other/behaviour_tree/include/behaviour_tree/node/blackboard/enum/ConditionOperatorType.hpp

@@ -0,0 +1,19 @@
+#ifndef BEHAVIOUR_TREE_CONDITION_OPERATOR_TYPE_HPP
+#define BEHAVIOUR_TREE_CONDITION_OPERATOR_TYPE_HPP
+
+#pragma once
+
+namespace behaviour_tree::node::blackboard
+{
+    enum class ConditionOperatorType
+    {
+        Equal,
+        NotEqual,
+        GreaterThan,
+        GreaterThanOrEqual,
+        LessThan,
+        LessThanOrEqual,
+    };
+}
+
+#endif

app/other/behaviour_tree/include/behaviour_tree/node/blackboard/enum/IntegerChangeType.hpp

@@ -0,0 +1,18 @@
+#ifndef BEHAVIOUR_TREE_INTEGER_CHANGE_TYPE_HPP
+#define BEHAVIOUR_TREE_INTEGER_CHANGE_TYPE_HPP
+
+#pragma once
+
+namespace behaviour_tree::node::blackboard
+{
+    enum class IntegerChangeType
+    {
+        Set,
+        Add,
+        Subtract,
+        Multiply,
+        Divide,
+    };
+}
+
+#endif