Add unit test related to SequenceWithMemory #636

Author: facontidavide

tests/gtest_sequence.cpp

@@ -13,7 +13,8 @@
 #include <gtest/gtest.h>
 #include "action_test_node.h"
 #include "condition_test_node.h"
-#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "test_helper.hpp"
 
 using BT::NodeStatus;
 using std::chrono::milliseconds;
@@ -388,3 +389,44 @@ TEST_F(ComplexSequenceWithMemoryTest, Conditions1ToFalse)
   ASSERT_EQ(NodeStatus::IDLE, action_2.status());
 }
 
+
+TEST(SequenceWithMemoryTest, Issue_636)
+{
+  static const char* xml_text = R"(
+
+<root BTCPP_format="4" main_tree_to_execute="MainTree" >
+
+    <BehaviorTree ID="MainTree">
+        <SequenceWithMemory>
+            <Script code = " var := 0 " />
+            <TestA/>
+            <ScriptCondition code = "var+=1; var >= 5" />
+            <TestB/>
+            <TestC/>
+        </SequenceWithMemory>
+    </BehaviorTree>
+</root> )";
+
+  BT::BehaviorTreeFactory factory;
+
+  std::array<int, 3> counters;
+  RegisterTestTick(factory, "Test", counters);
+
+  auto tree = factory.createTreeFromText(xml_text);
+
+  auto res = tree.tickOnce();
+  int tick_count = 1;
+
+  while(res != BT::NodeStatus::SUCCESS)
+  {
+    res = tree.tickOnce();
+    tick_count++;
+  }
+
+  ASSERT_EQ(1, counters[0]);
+  ASSERT_EQ(1, counters[1]);
+  ASSERT_EQ(1, counters[2]);
+
+  ASSERT_EQ(5, tick_count);
+}
+