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Improve subtree tests #2

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112 changes: 73 additions & 39 deletions tests/gtest_subtree.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,24 +77,27 @@ TEST(SubTree, GoodRemapping)

<BehaviorTree ID="MainTree">
<Sequence>
<SetBlackboard value="hello" output_key="thoughts" />
<SubTree ID="CopySubtree" in_arg="thoughts" out_arg="greetings"/>
<SaySomething message="{greetings}" />
<SetBlackboard value="hello" output_key="base_bb_in" />
<SubTree ID="CopySubtree" child_bb_in="base_bb_in" child_bb_out="base_bb_out"/>
<SaySomething message="{base_bb_out}" />
</Sequence>
</BehaviorTree>

<BehaviorTree ID="CopySubtree">
<CopyPorts in="{in_arg}" out="{out_arg}"/>
<CopyPorts in="{child_bb_in}" out="{child_bb_out}"/>
</BehaviorTree>
</root> )";

BehaviorTreeFactory factory;
factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
factory.registerNodeType<CopyPorts>("CopyPorts");

Tree tree = factory.createTreeFromText(xml_text);
Blackboard::Ptr blackboard = Blackboard::create();
Tree tree = factory.createTreeFromText(xml_text, blackboard);
auto ret = tree.tickRoot();
ASSERT_EQ(ret, NodeStatus::SUCCESS );
auto out_key_value = blackboard->get<std::string>("base_bb_out");
ASSERT_EQ("hello", out_key_value);
}

TEST(SubTree, BadRemapping)
Expand Down Expand Up @@ -142,94 +145,124 @@ TEST(SubTree, BadRemapping)
EXPECT_ANY_THROW( tree_bad_out.tickRoot() );
}

TEST(SubTree, SubtreePlusA)
TEST(SubTree, SubtreeSharedBlackboard)
{
static const char* xml_text = R"(

<root main_tree_to_execute = "MainTree" >

<BehaviorTree ID="MainTree">
<Sequence>
<SetBlackboard value="Hello" output_key="myParam" />
<SubTreePlus ID="mySubtree" param="{myParam}" />
<SubTreePlus ID="mySubtree" param="World" />
<SetBlackboard value="Auto remapped" output_key="param" />
<SubTreePlus ID="mySubtree" __autoremap="1" />
<SetBlackboard value="abc" output_key="shared_bb_in_1" />
<SetBlackboard value="def" output_key="shared_bb_in_2" />
<SubTree ID="mySubtree" __shared_blackboard="true"/>
</Sequence>
</BehaviorTree>

<BehaviorTree ID="mySubtree">
<SaySomething message="{param}" />
<Sequence>
<CopyPorts in="{shared_bb_in_1}" out="{shared_bb_out_1}"/>
<CopyPorts in="{shared_bb_in_2}" out="{shared_bb_out_2}"/>
</Sequence>
</BehaviorTree>
</root> )";

BehaviorTreeFactory factory;
factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
factory.registerNodeType<CopyPorts>("CopyPorts");

Tree tree = factory.createTreeFromText(xml_text);
Blackboard::Ptr blackboard = Blackboard::create();
Tree tree = factory.createTreeFromText(xml_text, blackboard);
auto ret = tree.tickRoot();
ASSERT_EQ(ret, NodeStatus::SUCCESS );

auto shared_bb_out_1_value = blackboard->get<std::string>("shared_bb_out_1");
auto shared_bb_out_2_value = blackboard->get<std::string>("shared_bb_out_2");
ASSERT_EQ("abc", shared_bb_out_1_value);
ASSERT_EQ("def", shared_bb_out_2_value);
}

TEST(SubTree, SubtreePlusB)
TEST(SubTree, SubtreePlusA)
{
static const char* xml_text = R"(
static const char* xml_text = R"(

<root main_tree_to_execute = "MainTree" >

<BehaviorTree ID="MainTree">
<Sequence>
<SetBlackboard value="Hello World" output_key="myParam" />
<SetBlackboard value="Auto remapped" output_key="param3" />
<SubTreePlus ID="mySubtree" __autoremap="1" param1="{myParam}" param2="Straight Talking" />
<SetBlackboard value="abc" output_key="abc_base_bb_in" />
<SubTreePlus ID="subtree_abc" abc_child_bb_in="{abc_base_bb_in}" abc_child_bb_out="{abc_base_bb_out}" />
<SubTreePlus ID="subtree_def" def_child_bb_in="def" def_child_bb_out="{def_base_bb_out}" />
<SetBlackboard value="ghi" output_key="ghi_base_bb_in" />
<SubTreePlus ID="subtree_ghi" __autoremap="1" />
</Sequence>
</BehaviorTree>

<BehaviorTree ID="mySubtree">
<Sequence>
<SaySomething message="{param1}" />
<SaySomething message="{param2}" />
<SaySomething message="{param3}" />
</Sequence>
<BehaviorTree ID="subtree_abc">
<CopyPorts in="{abc_child_bb_in}" out="{abc_child_bb_out}"/>
</BehaviorTree>

<BehaviorTree ID="subtree_def">
<CopyPorts in="{def_child_bb_in}" out="{def_child_bb_out}"/>
</BehaviorTree>

<BehaviorTree ID="subtree_ghi">
<CopyPorts in="{ghi_base_bb_in}" out="{ghi_base_bb_out}"/>
</BehaviorTree>
</root> )";

BehaviorTreeFactory factory;
factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
BehaviorTreeFactory factory;
factory.registerNodeType<CopyPorts>("CopyPorts");

Tree tree = factory.createTreeFromText(xml_text);
auto ret = tree.tickRoot();
ASSERT_EQ(ret, NodeStatus::SUCCESS );
Blackboard::Ptr blackboard = Blackboard::create();
Tree tree = factory.createTreeFromText(xml_text, blackboard);
auto ret = tree.tickRoot();
ASSERT_EQ(ret, NodeStatus::SUCCESS );

auto abc_base_bb_out_value = blackboard->get<std::string>("abc_base_bb_out");
auto def_base_bb_out_value = blackboard->get<std::string>("def_base_bb_out");
auto ghi_base_bb_out_value = blackboard->get<std::string>("ghi_base_bb_out");
ASSERT_EQ("abc", abc_base_bb_out_value);
ASSERT_EQ("def", def_base_bb_out_value);
ASSERT_EQ("ghi", ghi_base_bb_out_value);
}

TEST(SubTree, SubtreePlusC)
TEST(SubTree, SubtreePlusB)
{
static const char* xml_text = R"(

<root main_tree_to_execute = "MainTree" >

<BehaviorTree ID="MainTree">
<Sequence>
<SetBlackboard value="Hello" output_key="param1" />
<SetBlackboard value="World" output_key="param2" />
<SubTree ID="mySubtree" __shared_blackboard="true"/>
<SetBlackboard value="abc" output_key="base_bb_in_1" />
<SetBlackboard value="ghi" output_key="auto_mapped_in_3" />
<SubTreePlus ID="mySubtree" __autoremap="1" child_bb_in_1="{base_bb_in_1}" child_bb_in_2="def" />
</Sequence>
</BehaviorTree>

<BehaviorTree ID="mySubtree">
<Sequence>
<SaySomething message="{param1}" />
<SaySomething message="{param2}" />
<CopyPorts in="{child_bb_in_1}" out="{auto_mapped_out_1}"/>
<CopyPorts in="{child_bb_in_2}" out="{auto_mapped_out_2}"/>
<CopyPorts in="{auto_mapped_in_3}" out="{auto_mapped_out_3}"/>
</Sequence>
</BehaviorTree>
</root> )";

BehaviorTreeFactory factory;
factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
factory.registerNodeType<CopyPorts>("CopyPorts");

Tree tree = factory.createTreeFromText(xml_text);
Blackboard::Ptr blackboard = Blackboard::create();
Tree tree = factory.createTreeFromText(xml_text, blackboard);
auto ret = tree.tickRoot();
ASSERT_EQ(ret, NodeStatus::SUCCESS );
ASSERT_EQ(ret, NodeStatus::SUCCESS);

auto abc_base_bb_out_value = blackboard->get<std::string>("auto_mapped_out_1");
auto def_base_bb_out_value = blackboard->get<std::string>("auto_mapped_out_2");
auto ghi_base_bb_out_value = blackboard->get<std::string>("auto_mapped_out_3");
ASSERT_EQ("abc", abc_base_bb_out_value);
ASSERT_EQ("def", def_base_bb_out_value);
ASSERT_EQ("ghi", ghi_base_bb_out_value);
}


Expand Down Expand Up @@ -277,3 +310,4 @@ TEST(SubTree, SubtreePlusD)