gtest_blackboard.cpp

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/* Copyright (C) 2018 Davide Faconti - All Rights Reserved
*
*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
*   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/

#include <gtest/gtest.h>
#include "action_test_node.h"
#include "condition_test_node.h"
#include "behaviortree_cpp/behavior_tree.h"
#include "behaviortree_cpp/blackboard/blackboard_local.h"

using namespace BT;

class InitTestNode: public SyncActionNode
{
  public:
    InitTestNode(bool try_to_access_bb, const std::string& name):
      SyncActionNode(name),
      _value(0)
    {
        if( try_to_access_bb )
        {
            // this should throw
            blackboard()->set(KEY(), 33);
        }
    }

    void onInit() {
        blackboard()->get(KEY(), _value);
    }

    NodeStatus tick()
    {
        _value *= 2;
        blackboard()->set(KEY(), _value);
        return NodeStatus::SUCCESS;
    }

    static const char* KEY() { return "my_entry"; }

  private:
    int _value;
};




/****************TESTS START HERE***************************/

TEST(BlackboardTest, CheckOInit)
{
    auto bb = Blackboard::create<BlackboardLocal>();
    const auto KEY = InitTestNode::KEY();

    EXPECT_THROW( InitTestNode(true,"init_test"), std::logic_error );

    InitTestNode node(false,"init_test");
    node.setBlackboard(bb);

    bb->set(KEY, 11 );

    // this should read and write "my_entry", respectively in onInit() and tick()
    node.executeTick();

    ASSERT_EQ( bb->get<int>(KEY), 22 );

    // check that onInit is executed only once
    bb->set(KEY, 1 );

    // since this value is read in OnInit(), the node will not notice the change in bb
    node.setStatus( NodeStatus::IDLE );
    node.executeTick();
    ASSERT_EQ( bb->get<int>(KEY), 44 );
}