gtest_reactive.cpp

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#include <gtest/gtest.h>
#include "behaviortree_cpp_v3/bt_factory.h"
#include "test_helper.hpp"
#include "behaviortree_cpp_v3/loggers/bt_cout_logger.h"
 
using BT::NodeStatus;
using std::chrono::milliseconds;
 
class SleepNode : public BT::StatefulActionNode
{
public:
 
  SleepNode(const std::string& name, const BT::NodeConfiguration& config):
    StatefulActionNode(name, config) {}
 
  NodeStatus onStart() override {
    count_ = 0;
    return NodeStatus::RUNNING;
  }
 
  NodeStatus onRunning() override {
    return ++count_ < 10 ? NodeStatus::RUNNING : NodeStatus::SUCCESS;
  }
 
  void onHalted() override {}
 
  static BT::PortsList providedPorts(){
    return {};
  }
 
private:
  int count_ = 0;
};
 
 
TEST(Reactive, TestLogging)
{
  using namespace BT;
 
  static const char* reactive_xml_text = R"(
<root>
  <BehaviorTree ID="Main">
    <ReactiveSequence>
      <TestA name="testA"/>
      <AlwaysSuccess name="success"/>
      <Sleep/>
    </ReactiveSequence>
  </BehaviorTree>
</root>
)";
 
  BehaviorTreeFactory factory;
 
  factory.registerNodeType<SleepNode>("Sleep");
 
  std::array<int, 1> counters;
  RegisterTestTick(factory, "Test", counters);
 
  auto tree = factory.createTreeFromText(reactive_xml_text);
  StdCoutLogger logger(tree);
 
  auto ret = tree.tickRootWhileRunning();
  ASSERT_EQ(ret, NodeStatus::SUCCESS);
 
  int num_ticks = counters[0];
  ASSERT_GE(num_ticks, 10);
}