Added XML validation for decorators without children (BehaviorTree#424)

asasine · web-flow · commit 474f33ba8491 · 2022-09-13T16:31:50.000+02:00
* Added unit tests to demonstrate failure

* Added validation that decorators have only one child
diff --git a/include/behaviortree_cpp_v3/xml_parsing.h b/include/behaviortree_cpp_v3/xml_parsing.h
@@ -3,6 +3,8 @@
 
 #include "behaviortree_cpp_v3/bt_parser.h"
 
+#include <unordered_map>
+
 namespace BT
 {
 
@@ -38,7 +40,7 @@ class XMLParser: public Parser
 };
 
 void VerifyXML(const std::string& xml_text,
-               const std::set<std::string> &registered_nodes);
+               const std::unordered_map<std::string, NodeType> &registered_nodes);
 
 std::string writeTreeNodesModelXML(const BehaviorTreeFactory& factory,
                                    bool include_builtin = false);
diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
@@ -214,25 +214,25 @@ void XMLParser::Pimpl::loadDocImpl(BT_TinyXML2::XMLDocument* doc, bool add_inclu
         tree_roots.insert( {tree_name, bt_node} );
     }
 
-    std::set<std::string> registered_nodes;
+    std::unordered_map<std::string, BT::NodeType> registered_nodes;
     XMLPrinter printer;
     doc->Print(&printer);
     auto xml_text = std::string(printer.CStr(), size_t(printer.CStrSize() - 1));
 
     for( const auto& it: factory.manifests())
     {
-        registered_nodes.insert( it.first );
+        registered_nodes.insert({it.first, it.second.type});
     }
     for( const auto& it: tree_roots)
     {
-        registered_nodes.insert( it.first );
+        registered_nodes.insert({it.first, NodeType::SUBTREE});
     }
 
     VerifyXML(xml_text, registered_nodes);
 }
 
 void VerifyXML(const std::string& xml_text,
-               const std::set<std::string>& registered_nodes)
+               const std::unordered_map<std::string, BT::NodeType>& registered_nodes)
 {
 
     BT_TinyXML2::XMLDocument doc;
@@ -391,12 +391,22 @@ void VerifyXML(const std::string& xml_text,
         else
         {
             // search in the factory and the list of subtrees
-            bool found = ( registered_nodes.find(name)  != registered_nodes.end() );
+            const auto search = registered_nodes.find(name);
+            bool found = ( search != registered_nodes.end() );
             if (!found)
             {
                 ThrowError(node->GetLineNum(),
                            std::string("Node not recognized: ") + name);
             }
+
+            if (search->second == NodeType::DECORATOR)
+            {
+                if (children_count != 1)
+                {
+                    ThrowError(node->GetLineNum(),
+                            std::string("The node <") + name + "> must have exactly 1 child");
+                }
+            }
         }
         //recursion
         if (StrEqual(name, "SubTree") == false)
diff --git a/tests/gtest_factory.cpp b/tests/gtest_factory.cpp
@@ -359,3 +359,35 @@ TEST(BehaviorTreeFactory, CreateTreeFromFileWhichIncludesFileFromChildDirectoryW
     ASSERT_EQ(NodeStatus::SUCCESS, tree.tickRoot());
 }
 #endif
+
+TEST(BehaviorTreeFactory, DecoratorWithoutChildThrows)
+{
+    BehaviorTreeFactory factory;
+    const std::string tree_xml = R"(
+<root>
+    <BehaviorTree ID="Main">
+        <ForceSuccess>
+        </ForceSuccess>
+    </BehaviorTree>
+</root>
+)";
+
+    ASSERT_THROW(factory.createTreeFromText(tree_xml), BehaviorTreeException);
+}
+
+TEST(BehaviorTreeFactory, DecoratorWithTwoChildrenThrows)
+{
+    BehaviorTreeFactory factory;
+    const std::string tree_xml = R"(
+<root>
+    <BehaviorTree ID="Main">
+        <ForceSuccess>
+          <AlwaysSuccess />
+          <AlwaysSuccess />
+        </ForceSuccess>
+    </BehaviorTree>
+</root>
+)";
+
+    ASSERT_THROW(factory.createTreeFromText(xml_text), BehaviorTreeException);
+}

Original file line number	Diff line number	Diff line change
`@@ -214,25 +214,25 @@ void XMLParser::Pimpl::loadDocImpl(BT_TinyXML2::XMLDocument* doc, bool add_inclu`
`214`	`214`	`tree_roots.insert( {tree_name, bt_node} );`
`215`	`215`	`}`
`216`	`216`
`217`		`- std::set<std::string> registered_nodes;`
	`217`	`+ std::unordered_map<std::string, BT::NodeType> registered_nodes;`
`218`	`218`	`XMLPrinter printer;`
`219`	`219`	`doc->Print(&printer);`
`220`	`220`	`auto xml_text = std::string(printer.CStr(), size_t(printer.CStrSize() - 1));`
`221`	`221`
`222`	`222`	`for( const auto& it: factory.manifests())`
`223`	`223`	`{`
`224`		`- registered_nodes.insert( it.first );`
	`224`	`+ registered_nodes.insert({it.first, it.second.type});`
`225`	`225`	`}`
`226`	`226`	`for( const auto& it: tree_roots)`
`227`	`227`	`{`
`228`		`- registered_nodes.insert( it.first );`
	`228`	`+ registered_nodes.insert({it.first, NodeType::SUBTREE});`
`229`	`229`	`}`
`230`	`230`
`231`	`231`	`VerifyXML(xml_text, registered_nodes);`
`232`	`232`	`}`
`233`	`233`
`234`	`234`	`void VerifyXML(const std::string& xml_text,`
`235`		`- const std::set<std::string>& registered_nodes)`
	`235`	`+ const std::unordered_map<std::string, BT::NodeType>& registered_nodes)`
`236`	`236`	`{`
`237`	`237`
`238`	`238`	`BT_TinyXML2::XMLDocument doc;`
`@@ -391,12 +391,22 @@ void VerifyXML(const std::string& xml_text,`
`391`	`391`	`else`
`392`	`392`	`{`
`393`	`393`	`// search in the factory and the list of subtrees`
`394`		`- bool found = ( registered_nodes.find(name) != registered_nodes.end() );`
	`394`	`+ const auto search = registered_nodes.find(name);`
	`395`	`+ bool found = ( search != registered_nodes.end() );`
`395`	`396`	`if (!found)`
`396`	`397`	`{`
`397`	`398`	`ThrowError(node->GetLineNum(),`
`398`	`399`	`std::string("Node not recognized: ") + name);`
`399`	`400`	`}`
	`401`	`+`
	`402`	`+ if (search->second == NodeType::DECORATOR)`
	`403`	`+ {`
	`404`	`+ if (children_count != 1)`
	`405`	`+ {`
	`406`	`+ ThrowError(node->GetLineNum(),`
	`407`	`+ std::string("The node <") + name + "> must have exactly 1 child");`
	`408`	`+ }`
	`409`	`+ }`
`400`	`410`	`}`
`401`	`411`	`//recursion`
`402`	`412`	`if (StrEqual(name, "SubTree") == false)`