gtest_ports.cpp

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#include <gtest/gtest.h>
#include "behaviortree_cpp_v3/bt_factory.h"

using namespace BT;

class NodeWithPorts: public SyncActionNode
{
  public:
    NodeWithPorts(const std::string & name, const NodeConfiguration & config)
    : SyncActionNode(name, config)
    {
        std::cout << "ctor" << std::endl;
    }

      NodeStatus tick()
    {
        int val_A = 0;
        int val_B = 0;
        if( getInput("in_port_A", val_A) &&
            getInput("in_port_B", val_B) &&
            val_A == 42 && val_B == 66)
        {
            return NodeStatus::SUCCESS;
        }
        return NodeStatus::FAILURE;
    }

    static PortsList providedPorts()
    {
        return { BT::InputPort<int>("in_port_A", 42, "magic_number"),
                 BT::InputPort<int>("in_port_B") };
    }
};

TEST(PortTest, DefaultPorts)
{
    std::string xml_txt = R"(
    <root main_tree_to_execute = "MainTree" >
        <BehaviorTree ID="MainTree">
            <NodeWithPorts name = "first"  in_port_B="66" />
        </BehaviorTree>
    </root>)";

    BehaviorTreeFactory factory;
    factory.registerNodeType<NodeWithPorts>("NodeWithPorts");

    auto tree = factory.createTreeFromText(xml_txt);

    NodeStatus status = tree.tickRoot();
    ASSERT_EQ( status, NodeStatus::SUCCESS );
}

struct MyType
{
  std::string value;
};


class NodeInPorts : public SyncActionNode
{
  public:
  NodeInPorts(const std::string &name, const NodeConfiguration &config)
      : SyncActionNode(name, config)
  {}


  NodeStatus tick()
  {
    int val_A = 0;
    MyType val_B;
    if( getInput("int_port", val_A) &&
        getInput("any_port", val_B) )
    {
      return NodeStatus::SUCCESS;
    }
    return NodeStatus::FAILURE;
  }

  static PortsList providedPorts()
  {
    return { BT::InputPort<int>("int_port"),
             BT::InputPort<MyType>("any_port") };
  }
};

class NodeOutPorts : public SyncActionNode
{
  public:
  NodeOutPorts(const std::string &name, const NodeConfiguration &config)
      : SyncActionNode(name, config)
  {}


  NodeStatus tick()
  {
    return NodeStatus::SUCCESS;
  }

  static PortsList providedPorts()
  {
    return { BT::OutputPort<int>("int_port"),
            BT::OutputPort<MyType>("any_port") };
  }
};

TEST(PortTest, EmptyPort)
{
  std::string xml_txt = R"(
    <root main_tree_to_execute = "MainTree" >
        <BehaviorTree ID="MainTree">
            <Sequence>
                <NodeInPorts  int_port="{ip}" any_port="{ap}" />
                <NodeOutPorts int_port="{ip}" any_port="{ap}" />
            </Sequence>
        </BehaviorTree>
    </root>)";

  BehaviorTreeFactory factory;
  factory.registerNodeType<NodeOutPorts>("NodeOutPorts");
  factory.registerNodeType<NodeInPorts>("NodeInPorts");

  auto tree = factory.createTreeFromText(xml_txt);

  NodeStatus status = tree.tickRoot();
  // expect failure because port is not set yet
  ASSERT_EQ( status, NodeStatus::FAILURE );
}