more test added

BehaviorTree · Jul 20, 2023 · 6a5152a · 6a5152a
1 parent 0622f5d
commit 6a5152a
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diff --git a/tests/gtest_blackboard.cpp b/tests/gtest_blackboard.cpp
@@ -371,7 +371,7 @@ TEST(ParserTest, Issue605_whitespaces)
       <Script code=" sub_value:=false " />
     </BehaviorTree>
 
-    <BehaviorTree ID="MyMainTree">
+    <BehaviorTree ID="MainTree">
       <Sequence>
         <Script code=" my_value:=true " />
         <SubTree ID="MySubtree" sub_value="{my_value}  "/>
@@ -380,7 +380,7 @@ TEST(ParserTest, Issue605_whitespaces)
   </root> )";
 
   factory.registerBehaviorTreeFromText(xml_text);
-  auto tree = factory.createTree("MyMainTree");
+  auto tree = factory.createTree("MainTree");
   const auto status = tree.tickWhileRunning();
 
   for(auto const& subtree: tree.subtrees)
@@ -391,3 +391,73 @@ TEST(ParserTest, Issue605_whitespaces)
   ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
   ASSERT_EQ(false, tree.rootBlackboard()->get<bool>("my_value"));
 }
+
+
+class ComparisonNode : public BT::ConditionNode
+{
+public:
+
+  ComparisonNode(const std::string& name, const BT::NodeConfiguration& config):
+    BT::ConditionNode(name, config) {}
+
+  static BT::PortsList providedPorts()
+  {
+    return {BT::InputPort<int32_t>("first"),
+            BT::InputPort<int32_t>("second"),
+            BT::InputPort<std::string>("operator")};
+  }
+
+  BT::NodeStatus tick() override
+  {
+    int32_t firstValue = 0;
+    int32_t secondValue = 0;
+    std::string inputOperator;
+    if (!getInput("first", firstValue) ||
+        !getInput("second", secondValue) ||
+        !getInput("operator", inputOperator))
+    {
+      throw RuntimeError("can't access input");
+    }
+    if( (inputOperator == "==" && firstValue == secondValue) ||
+        (inputOperator == "!=" && firstValue != secondValue) ||
+        (inputOperator == "<=" && firstValue <= secondValue) ||
+        (inputOperator == ">=" && firstValue <= secondValue) ||
+        (inputOperator == "<" && firstValue < secondValue) ||
+        (inputOperator == ">" && firstValue < secondValue) )
+    {
+      return BT::NodeStatus::SUCCESS;
+    }
+    // skipping the rest of the implementation
+    return BT::NodeStatus::FAILURE;
+  }
+};
+
+TEST(BlackboardTest, IssueSetBlackboard)
+{
+  BT::BehaviorTreeFactory factory;
+
+  const std::string xml_text = R"(
+  <root BTCPP_format="4" >
+    <BehaviorTree ID="MySubtree">
+      <ComparisonNode first="{value}" second="42" operator="==" />
+    </BehaviorTree>
+
+    <BehaviorTree ID="MainTree">
+      <Sequence>
+        <SetBlackboard value="42" output_key="value" />
+        <SubTree ID="MySubtree" value="{value}  "/>
+      </Sequence>
+    </BehaviorTree>
+  </root> )";
+
+  factory.registerNodeType<ComparisonNode>("ComparisonNode");
+  factory.registerBehaviorTreeFromText(xml_text);
+  auto tree = factory.createTree("MainTree");
+  const auto status = tree.tickWhileRunning();
+
+  ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
+  ASSERT_EQ(42, tree.rootBlackboard()->get<int>("value"));
+}
+
+
+
diff --git a/tests/gtest_reactive.cpp b/tests/gtest_reactive.cpp
@@ -87,4 +87,40 @@ TEST(Reactive, Issue587)
   ASSERT_EQ(counters[0], 1);
 }
 
+TEST(Reactive, PreTickHooks)
+{
+  using namespace BT;
+
+  static const char* reactive_xml_text = R"(
+<root BTCPP_format="4" >
+  <BehaviorTree ID="Main">
+    <ReactiveSequence>
+      <AlwaysFailure name="failureA"/>
+      <AlwaysFailure name="failureB"/>
+      <Sleep msec="100"/>
+    </ReactiveSequence>
+  </BehaviorTree>
+</root>
+)";
+
+  BehaviorTreeFactory factory;
+
+  auto tree = factory.createTreeFromText(reactive_xml_text);
+
+  TreeNode::PreTickCallback callback =
+      [](TreeNode& node) -> NodeStatus {
+    std::cout << node.name() << " callback" << std::endl;
+    return NodeStatus::SUCCESS;
+  };
+
+  tree.applyVisitor([&](TreeNode* node) -> void {
+    if(auto dd = dynamic_cast<BT::AlwaysFailureNode*>(node)) {
+      dd->setPreTickFunction(callback);
+    }
+  });
+
+  auto ret = tree.tickWhileRunning();
+  ASSERT_EQ(ret, NodeStatus::SUCCESS);
+}
+