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Write the library version as BTCPP_version in the <root> of generated XML - #1264
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…erated XML writeTreeNodesModelXML() and WriteTreeToXML() now add BTCPP_version="<major>.<minor>" to <root>, next to BTCPP_format. It tells tools like Groot2 which builtin node models and attributes (e.g. the _onlyIf/_onStart preconditions of 4.11) are available. The XSD declares it as an optional attribute. The parser ignores it, as all BT.CPP 4.x releases already ignore unknown <root> attributes, so files written by 4.11 still load in older versions. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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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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Summary
writeTreeNodesModelXML()andWriteTreeToXML()now write the library version in<root>:The value is
major.minor, taken fromLibraryVersionString(). On master it reads4.10until the version is bumped.Why
Groot2 needs to know which BT.CPP version a file or a monitored tree targets:
UnsetBlackboardarrived in 4.5,WaitValueUpdateand friends in 4.6,TryCatchin 4.9);_onlyIfand_onStartpreconditions (Add _onlyIf and _onStart preconditions (#820, #895) #1261) exist only from 4.11.Groot2 will let users pick the target version in its Preferences and will write the same attribute. With this PR, XML generated by the library carries it too, including the tree that
Groot2Publishersends.Compatibility
BTCPP_formatandmain_tree_to_executefrom<root>, so files written by 4.11 still load in older versions.BTCPP_versionas an optional attribute, so files without it still validate.Tests
BehaviorTreeFactory.WrittenXMLHasLibraryVersionchecks that both writers emit the attribute and that the output loads and runs again. It fails without the change. The full suite passes: 596 passed, 2 skipped.🤖 Generated with Claude Code