BehaviorTree.CPP/tests/gtest_substitution.cpp at 10b9ae53ef891e138ac7df33b86102ab43cddd5d · BehaviorTree/BehaviorTree.CPP · GitHub

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#include "behaviortree_cpp/bt_factory.h"

#include <gtest/gtest.h>

using namespace BT;

static const char* json_text = R"(
{
  "TestNodeConfigs": {
    "TestA": {
      "async_delay": 2000,
      "return_status": "SUCCESS",
      "post_script": "msg ='message SUBSTITUED'"
    },
    "TestB": {
      "return_status": "FAILURE"
    }
  },

  "SubstitutionRules": {
    "actionA": "TestA",
    "actionB": "TestB",
    "actionC": "NotAConfig"
  }
}
 )";

TEST(Substitution, Parser)
{
  BehaviorTreeFactory factory;

  factory.loadSubstitutionRuleFromJSON(json_text);

  const auto& rules = factory.substitutionRules();

  ASSERT_EQ(rules.size(), 3);
  ASSERT_EQ(rules.count("actionA"), 1);
  ASSERT_EQ(rules.count("actionB"), 1);
  ASSERT_EQ(rules.count("actionC"), 1);

  auto configA = std::get_if<TestNodeConfig>(&rules.at("actionA"));
  ASSERT_EQ(configA->return_status, NodeStatus::SUCCESS);
  ASSERT_EQ(configA->async_delay, std::chrono::milliseconds(2000));
  ASSERT_EQ(configA->post_script, "msg ='message SUBSTITUED'");

  auto configB = std::get_if<TestNodeConfig>(&rules.at("actionB"));
  ASSERT_EQ(configB->return_status, NodeStatus::FAILURE);
  ASSERT_EQ(configB->async_delay, std::chrono::milliseconds(0));
  ASSERT_TRUE(configB->post_script.empty());

  ASSERT_EQ(*std::get_if<std::string>(&rules.at("actionC")), "NotAConfig");
}

// Regression test for issue #934: segfault when substituting a SubTree node
TEST(Substitution, SubTreeNodeSubstitution)
{
  static const char* parent_xml = R"(
  <root BTCPP_format="4">
    <BehaviorTree ID="Parent">
      <SubTree ID="Child" name="child" />
    </BehaviorTree>
  </root>
  )";

  static const char* child_xml = R"(
  <root BTCPP_format="4">
    <BehaviorTree ID="Child">
      <AlwaysSuccess />
    </BehaviorTree>
  </root>
  )";

  BehaviorTreeFactory factory;
  factory.registerBehaviorTreeFromText(parent_xml);
  factory.registerBehaviorTreeFromText(child_xml);

  BT::TestNodeConfig config;
  config.return_status = BT::NodeStatus::SUCCESS;
  factory.addSubstitutionRule("child", config);

  // This should not crash (was a segfault before the fix)
  Tree tree;
  ASSERT_NO_THROW(tree = factory.createTree("Parent"));

  // The substituted tree should tick successfully
  auto status = tree.tickWhileRunning();
  ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
}