Merge updates from upstream (v4.6.0)

.clang-format

@@ -1,5 +1,5 @@
 ---
-BasedOnStyle:  Google
+BasedOnStyle: Google
 AccessModifierOffset: -2
 ConstructorInitializerIndentWidth: 2
 AlignEscapedNewlinesLeft: false
@@ -8,15 +8,13 @@ AllowAllParametersOfDeclarationOnNextLine: false
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
 BreakBeforeTernaryOperators: false
-BreakConstructorInitializersBeforeComma: false
-BreakConstructorInitializers: AfterColon
+BreakConstructorInitializers: BeforeComma
 BinPackParameters: true
-ColumnLimit:    90
+ColumnLimit: 90
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
 DerivePointerBinding: false
 PointerBindsToType: true
@@ -31,19 +29,20 @@ PenaltyBreakString: 1
 PenaltyBreakFirstLessLess: 1000
 PenaltyExcessCharacter: 1000
 PenaltyReturnTypeOnItsOwnLine: 90
-SpacesBeforeTrailingComments: 3
-Cpp11BracedListStyle: true
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
 IndentFunctionDeclarationAfterType: false
 SpacesInParentheses: false
-SpacesInAngles:  false
+SpacesInAngles: false
 SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
 SpaceAfterControlStatementKeyword: true
 SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: Never
 ContinuationIndentWidth: 4
 SortIncludes: false
 SpaceAfterCStyleCast: false
@@ -54,17 +53,16 @@ BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
 BraceWrapping: {
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
+    AfterClass: 'true',
+    AfterControlStatement: 'true',
+    AfterEnum : 'true',
+    AfterFunction : 'true',
+    AfterNamespace : 'true',
+    AfterStruct : 'true',
+    AfterUnion : 'true',
+    BeforeCatch : 'true',
+    BeforeElse : 'true',
+    IndentBraces : 'false',
     SplitEmptyFunction: 'false'
 }
 ...
-

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,19 @@
+---
+name: Bug report
+about: Help me help you...
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+If you are experiencing a crash, provide a backtrace (GDB or similar).
+
+*How to Reproduce**
+
+Please provide a specific description of how to reproduce the issue or source code that can be compiled and executed. Please attach a file/project that is easy to compile, don't copy and paste code snippets!
+
+Even better, create a Pull Request with a failing unit test.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is.
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/pull_request_template.md

@@ -0,0 +1,11 @@
+<!--
+You must run clang-format, otherwise your change may not pass the tests on CI
+We recommend using pre-commit.
+
+To use:
+    pre-commit run -a
+Or:
+     pre-commit install  # (runs every time you commit in git)
+
+See https://github.com/pre-commit/pre-commit
+-->

.github/workflows/cmake_ubuntu.yml

@@ -19,13 +19,13 @@ jobs:
 
     steps:
     - uses: actions/checkout@v2
-      
+
     - name: Install Conan
       id: conan
       uses: turtlebrowser/get-conan@main
       with:
         version: 1.59.0
-      
+
     - name: Create default profile
       run: conan profile new default --detect
 
@@ -50,11 +50,10 @@ jobs:
       shell: bash
       working-directory: ${{github.workspace}}/build
       run: cmake --build . --config ${{env.BUILD_TYPE}}
-      
+
     - name: run test (Linux)
       working-directory: ${{github.workspace}}/build
       run: ./tests/behaviortree_cpp_test
-      
+
     - name: Upload coverage reports to Codecov
       uses: codecov/codecov-action@v3
-

.github/workflows/cmake_windows.yml

@@ -18,16 +18,14 @@ jobs:
         os: [windows-latest]
 
     steps:
-    - uses: actions/checkout@v2
-    
+    - uses: actions/checkout@v4
+
     - name: Install Conan
       id: conan
       uses: turtlebrowser/get-conan@main
-      with:
-        version: 1.59.0
-
+
     - name: Create default profile
-      run: conan profile new default --detect
+      run: conan profile detect
 
     - name: Create Build Environment
       # Some projects don't allow in-source building, so create a separate build directory
@@ -47,8 +45,7 @@ jobs:
       working-directory: ${{github.workspace}}/build
       shell: bash
       run: cmake --build . --config ${{env.BUILD_TYPE}}
-      
+
     - name: run test (Windows)
       working-directory: ${{github.workspace}}/build
       run: $env:PATH+=";${{env.BUILD_TYPE}}"; tests/${{env.BUILD_TYPE}}/behaviortree_cpp_test.exe
-

.github/workflows/pixi.yaml

@@ -2,57 +2,21 @@ name: Pixi (conda)
 
 on: [push, pull_request]
 
-env:
-  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
-  # Note if this value is changed, has to be manually updated in the `windows-latest` tests_command
-  BUILD_TYPE: Release
-
 jobs:
   pixi_conda_build:
     strategy:
       matrix:
-        include:
-        - os: windows-latest
-          build_depend: vs2022_win-64=19.*
-          tests_command: "'PATH=\\\"$PATH;build/Release\\\" build/tests/Release/behaviortree_cpp_test.exe'"
-        - os: ubuntu-latest
-          build_depend: "gxx=12.2.*"
-          tests_command: "./build/tests/behaviortree_cpp_test"
+        os:
+          - windows-latest
+          - ubuntu-latest
     runs-on: ${{ matrix.os }}
     steps:
       # Pixi is the tool used to create/manage conda environment
-      - uses: prefix-dev/[email protected]
-        with:
-          pixi-version: v0.7.0
-          locked: false
-          frozen: false
-          run-install: false
-          manifest-path: build-env/pixi.yaml
-      - name: Make pixi workspace
-        run: |
-          pixi init build-env
-      - name: Install dependencies
-        working-directory: ${{github.workspace}}/build-env
-        run: |
-          pixi add cmake zeromq=4.3.4 gtest=1.12.* gmock=1.12.* sqlite=3.40.* ${{ matrix.build-depend }}
-          pixi install
-      - name: Create Build Directory
-        working-directory: ${{github.workspace}}/build-env
-        run: mkdir build
       - uses: actions/checkout@v3
+      - uses: prefix-dev/[email protected]
         with:
-          path: build-env/BehaviorTree.CPP
+          pixi-version: v0.16.1
       - name: Build
-        working-directory: ${{github.workspace}}/build-env
-        run: |
-          pixi task add build "cd build; cmake ../BehaviorTree.CPP -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}; cmake --build . --parallel --config ${{env.BUILD_TYPE}}"
-          pixi run build
+        run: pixi run build
       - name: Run tests
-        working-directory: ${{github.workspace}}/build-env
-        run: |
-          pixi task add tests ${{ matrix.tests_command }}
-          pixi run tests 
-          
-
-    
-
+        run: pixi run test

.github/workflows/pre-commit.yaml

@@ -0,0 +1,14 @@
+name: pre-commit
+
+on:
+  pull_request:
+  push:
+    branches: [master]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v3
+    - uses: pre-commit/[email protected]

.github/workflows/ros2-rolling.yaml

@@ -0,0 +1,17 @@
+name: ros2-rolling
+
+on: [push, pull_request]
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: rolling, ROS_REPO: main}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+        with:
+            package-name: plotjuggler

.github/workflows/ros2.yaml

@@ -8,11 +8,11 @@ jobs:
       matrix:
         env:
           - {ROS_DISTRO: humble, ROS_REPO: main}
-          - {ROS_DISTRO: rolling, ROS_REPO: main}
+          - {ROS_DISTRO: iron, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}
         with:
-            package-name: behaviortree_cpp
+            package-name: plotjuggler

.gitignore

@@ -11,3 +11,8 @@ CMakeSettings.json
 
 # OSX junk
 .DS_Store
+
+# pixi environments
+.pixi
+
+CMakeUserPresets.json

.pre-commit-config.yaml

@@ -0,0 +1,44 @@
+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+exclude: ^3rdparty/|3rdparty|^include/behaviortree_cpp/contrib/
+repos:
+
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+        exclude_types: [svg]
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [svg]
+      - id: fix-byte-order-marker
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
+        args: ['-fallback-style=none', '-i']