Allow registration of TestNode

facontidavide · facontidavide · commit b651be8a53e2 · 2023-05-25T14:19:12.000+02:00
diff --git a/include/behaviortree_cpp/actions/test_node.h b/include/behaviortree_cpp/actions/test_node.h
@@ -60,8 +60,10 @@ struct TestNodeConfig
 class TestNode : public BT::StatefulActionNode
 {
 public:
-  TestNode(const std::string& name, const NodeConfig& config) :
-    StatefulActionNode(name, config)
+  TestNode(const std::string& name, const NodeConfig& config,
+           TestNodeConfig test_config = {}) :
+    StatefulActionNode(name, config),
+        _test_config(std::move(test_config))
   {
     setRegistrationID("TestNode");
   }
diff --git a/tests/gtest_parallel.cpp b/tests/gtest_parallel.cpp
@@ -12,8 +12,9 @@
 
 #include <gtest/gtest.h>
 #include "action_test_node.h"
+#include "behaviortree_cpp/loggers/bt_observer.h"
 #include "condition_test_node.h"
-#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
 
 using BT::NodeStatus;
 using std::chrono::milliseconds;
@@ -393,3 +394,38 @@ TEST_F(ComplexParallelTest, ConditionRightFalseAction1Done)
 
   ASSERT_EQ(NodeStatus::SUCCESS, state);
 }
+
+TEST(FailingParallel, FailingParallel)
+{
+  static const char* xml_text = R"(
+<root BTCPP_format="4">
+  <BehaviorTree ID="MainTree">
+    <Parallel name="parallel" success_count="1" failure_count="3">
+      <GoodTest name="first"/>
+      <BadTest name="second"/>
+      <GoodTest name="third"/>
+    </Parallel>
+  </BehaviorTree>
+</root>  )";
+  using namespace BT;
+
+  BehaviorTreeFactory factory;
+
+  BT::TestNodeConfig good_config;
+  good_config.async_delay = std::chrono::milliseconds(300);
+  good_config.return_status = NodeStatus::SUCCESS;
+  factory.registerNodeType<BT::TestNode>("GoodTest", good_config);
+
+  BT::TestNodeConfig bad_config;
+  bad_config.async_delay = std::chrono::milliseconds(100);
+  bad_config.return_status = NodeStatus::FAILURE;
+  factory.registerNodeType<BT::TestNode>("BadTest", bad_config);
+
+  auto tree = factory.createTreeFromText(xml_text);
+  BT::TreeObserver observer(tree);
+
+  auto state = tree.tickWhileRunning();
+  // since at least one succeeded.
+  ASSERT_EQ(NodeStatus::SUCCESS, state);
+  ASSERT_EQ( 1, observer.getStatistics("second").failure_count);
+}

Original file line number	Diff line number	Diff line change
`@@ -60,8 +60,10 @@ struct TestNodeConfig`
`60`	`60`	`class TestNode : public BT::StatefulActionNode`
`61`	`61`	`{`
`62`	`62`	`public:`
`63`		`- TestNode(const std::string& name, const NodeConfig& config) :`
`64`		`- StatefulActionNode(name, config)`
	`63`	`+ TestNode(const std::string& name, const NodeConfig& config,`
	`64`	`+ TestNodeConfig test_config = {}) :`
	`65`	`+ StatefulActionNode(name, config),`
	`66`	`+ _test_config(std::move(test_config))`
`65`	`67`	`{`
`66`	`68`	`setRegistrationID("TestNode");`
`67`	`69`	`}`