gtest_async_action_node.cpp

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#include "behaviortree_cpp_v3/action_node.h"
#include "behaviortree_cpp_v3/basic_types.h"

#include <chrono>
#include <condition_variable>
#include <future>
#include <mutex>
#include <stdexcept>
#include <string>
#include <thread>

#include <gtest/gtest.h>
#include <gmock/gmock.h>

// The mocked version of the base.
struct MockedAsyncActionNode : public BT::AsyncActionNode
{
  using BT::AsyncActionNode::AsyncActionNode;
  MOCK_METHOD0(tick, BT::NodeStatus());

  // Tick while the node is running.
  BT::NodeStatus spinUntilDone()
  {
    do
    {
      executeTick();
    } while (status() == BT::NodeStatus::RUNNING);
    return status();
  }

  // Expose the setStatus method.
  using BT::AsyncActionNode::setStatus;
};

// The fixture taking care of the node-setup.
struct MockedAsyncActionFixture : public testing::Test
{
  BT::NodeConfiguration config;
  MockedAsyncActionNode sn;
  MockedAsyncActionFixture() : sn("node", config)
  {}
};

// Parameters for the terminal node states.
struct NodeStatusFixture : public testing::WithParamInterface<BT::NodeStatus>,
                           public MockedAsyncActionFixture
{
};

INSTANTIATE_TEST_CASE_P(, NodeStatusFixture,
                        testing::Values(BT::NodeStatus::SUCCESS,
                                        BT::NodeStatus::FAILURE));

TEST_P(NodeStatusFixture, normal_routine)
{
  // Test verifies the "normal" operation: We correctly propagate the result
  // from the tick to the caller.
  const BT::NodeStatus state = GetParam();

  // Setup the mock-expectations.
  EXPECT_CALL(sn, tick()).WillOnce(testing::Invoke([&]() {
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
    return state;
  }));

  // Spin the node and check the final status.
  ASSERT_EQ(sn.spinUntilDone(), state);
}

TEST_F(MockedAsyncActionFixture, no_halt)
{
  // Test verifies that halt returns immediately, if the node is idle. It
  // further checks if the halt-flag is resetted correctly.
  sn.halt();
  ASSERT_TRUE(sn.isHaltRequested());

  // Below we further verify that the halt flag is cleaned up properly.
  const BT::NodeStatus state{BT::NodeStatus::SUCCESS};
  EXPECT_CALL(sn, tick()).WillOnce(testing::Return(state));

  // Spin the node and check.
  ASSERT_EQ(sn.spinUntilDone(), state);
  ASSERT_FALSE(sn.isHaltRequested());
}

TEST_F(MockedAsyncActionFixture, halt)
{
  // Test verifies that calling halt() is blocking.
  bool release = false;
  std::mutex m;
  std::condition_variable cv;

  const BT::NodeStatus state{BT::NodeStatus::SUCCESS};
  EXPECT_CALL(sn, tick()).WillOnce(testing::Invoke([&]() {
    // Sleep until we send the release signal.
    std::unique_lock<std::mutex> l(m);
    while (!release)
      cv.wait(l);

    return state;
  }));

  // Start the execution.
  sn.executeTick();

  // Try to halt the node (cv will block it...)
  std::future<void> halted = std::async(std::launch::async, [&]() { sn.halt(); });
  ASSERT_EQ(halted.wait_for(std::chrono::milliseconds(10)), std::future_status::timeout);
  ASSERT_EQ(sn.status(), BT::NodeStatus::RUNNING);

  // Release the method.
  {
    std::unique_lock<std::mutex> l(m);
    release = true;
    cv.notify_one();
  }

  // Wait for the future to return.
  halted.wait();
  ASSERT_EQ(sn.status(), state);
}

TEST_F(MockedAsyncActionFixture, exception)
{
  // Verifies that we can recover from the exceptions in the tick method:
  // 1) catch the exception, 2) re-raise it in the caller thread.

  // Setup the mock.
  EXPECT_CALL(sn, tick()).WillOnce(testing::Invoke([&]() {
    throw std::runtime_error("This is not good!");
    return BT::NodeStatus::SUCCESS;
  }));

  ASSERT_ANY_THROW(sn.spinUntilDone());
  testing::Mock::VerifyAndClearExpectations(&sn);

  // Now verify that the exception is cleared up (we succeed).
  sn.setStatus(BT::NodeStatus::IDLE);
  const BT::NodeStatus state{BT::NodeStatus::SUCCESS};
  EXPECT_CALL(sn, tick()).WillOnce(testing::Return(state));
  ASSERT_EQ(sn.spinUntilDone(), state);
}