add unot test BehaviorTree#725

facontidavide · facontidavide · commit 12f75ea6d37f · 2023-12-19T09:51:06.000+01:00
diff --git a/tests/gtest_blackboard.cpp b/tests/gtest_blackboard.cpp
@@ -1,4 +1,4 @@
-/* Copyright (C) 2018-2019 Davide Faconti, Eurecat - All Rights Reserved
+/* Copyright (C) 2018-2023 Davide Faconti, Eurecat - All Rights Reserved
 *
 *   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
 *   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
@@ -18,6 +18,8 @@
 #include "behaviortree_cpp/blackboard.h"
 #include "behaviortree_cpp/xml_parsing.h"
 
+#include "../sample_nodes/dummy_nodes.h"
+
 using namespace BT;
 
 class BB_TestNode : public SyncActionNode
@@ -459,6 +461,32 @@ TEST(BlackboardTest, IssueSetBlackboard)
   ASSERT_EQ(42, tree.rootBlackboard()->get<int>("value"));
 }
 
+TEST(BlackboardTest, SetBlackboard_Issue725)
+{
+  BT::BehaviorTreeFactory factory;
+
+  const std::string xml_text = R"(
+  <root BTCPP_format="4" >
+    <BehaviorTree ID="MainTree">
+      <Sequence>
+        <SetBlackboard value="hello world" output_key="value" />
+        <SetBlackboard value="{value}" output_key="other_value" />
+        <SaySomething message="{other_value}" />
+      </Sequence>
+    </BehaviorTree>
+  </root> )";
+
+  factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
+  factory.registerBehaviorTreeFromText(xml_text);
+  auto tree = factory.createTree("MainTree");
+  const auto status = tree.tickWhileRunning();
+
+  ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
+  ASSERT_EQ("hello world", tree.rootBlackboard()->get<std::string>("value"));
+  ASSERT_EQ("hello world", tree.rootBlackboard()->get<std::string>("other_value"));
+}
+
+
 TEST(BlackboardTest, NullOutputRemapping)
 {
   auto bb = Blackboard::create();
