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asasineasasine
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Fixed bug where including relative paths would fail to find the correct file (#358)
* Added unit tests to verify current behavior * Fixed bug where including relative paths would fail to find the correct file * Added gtest environment to access executable path This path lets tests access files relative to the executable for better transportability * Changed file commandto add_custom_target The file command only copies during the cmake configure step. If source files change, file is not ran again
1 parent 284b1b7 commit a4b115a

15 files changed

+188
-0
lines changed

‎src/xml_parsing.cpp

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@@ -187,8 +187,16 @@ void XMLParser::Pimpl::loadDocImpl(BT_TinyXML2::XMLDocument* doc, bool add_inclu
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opened_documents.emplace_back(new BT_TinyXML2::XMLDocument());
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BT_TinyXML2::XMLDocument* next_doc = opened_documents.back().get();
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// change current path to the included file for handling additional relative paths
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const filesystem::path previous_path = current_path;
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current_path = file_path.parent_path().make_absolute();
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next_doc->LoadFile(file_path.str().c_str());
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loadDocImpl(next_doc, add_includes);
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// reset current path to the previous value
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current_path = previous_path;
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}
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for (auto bt_node = xml_root->FirstChildElement("BehaviorTree");

‎tests/CMakeLists.txt

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@@ -58,6 +58,11 @@ elseif(BUILD_UNIT_TESTS)
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bt_sample_nodes gtest gtest_main)
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target_include_directories(${BEHAVIOR_TREE_LIBRARY}_test PRIVATE gtest/include ${GTEST_INCLUDE_DIRS})
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add_custom_command(TARGET ${BEHAVIOR_TREE_LIBRARY}_test POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy_directory
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${CMAKE_SOURCE_DIR}/tests/trees
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${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/trees)
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add_test(BehaviorTreeCoreTest ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${BEHAVIOR_TREE_LIBRARY}_test)
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endif()

‎tests/gtest_factory.cpp

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@@ -2,6 +2,7 @@
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#include "action_test_node.h"
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#include "condition_test_node.h"
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#include "behaviortree_cpp_v3/xml_parsing.h"
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#include "environment.h"
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#include "../sample_nodes/crossdoor_nodes.h"
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#include "../sample_nodes/dummy_nodes.h"
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@@ -303,4 +304,58 @@ TEST(BehaviorTreeFactory, SubTreeWithRemapping)
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ASSERT_FALSE( talk_bb->getAny("talk_out") );
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}
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#if !defined(USING_ROS) && !defined(USING_ROS2)
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TEST(BehaviorTreeFactory, CreateTreeFromFile)
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{
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BehaviorTreeFactory factory;
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// should not throw
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Tree tree = factory.createTreeFromFile((environment->executable_path.parent_path() / "trees/parent_no_include.xml").str());
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ASSERT_EQ(NodeStatus::SUCCESS, tree.tickRoot());
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}
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TEST(BehaviorTreeFactory, CreateTreeFromFileWhichIncludesFileFromSameDirectory)
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{
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BehaviorTreeFactory factory;
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// should not throw
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Tree tree = factory.createTreeFromFile((environment->executable_path.parent_path() / "trees/child/child_include_sibling.xml").str());
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ASSERT_EQ(NodeStatus::SUCCESS, tree.tickRoot());
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}
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TEST(BehaviorTreeFactory, CreateTreeFromFileWhichIncludesFileFromChildDirectory)
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{
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BehaviorTreeFactory factory;
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// should not throw
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Tree tree = factory.createTreeFromFile((environment->executable_path.parent_path() / "trees/parent_include_child.xml").str());
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ASSERT_EQ(NodeStatus::SUCCESS, tree.tickRoot());
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}
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TEST(BehaviorTreeFactory, CreateTreeFromFileWhichIncludesFileFromChildDirectoryWhichIncludesFileFromSameDirectory)
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{
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BehaviorTreeFactory factory;
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// should not throw
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Tree tree = factory.createTreeFromFile((environment->executable_path.parent_path() / "trees/parent_include_child_include_sibling.xml").str());
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ASSERT_EQ(NodeStatus::SUCCESS, tree.tickRoot());
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}
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TEST(BehaviorTreeFactory, CreateTreeFromFileWhichIncludesFileFromChildDirectoryWhichIncludesFileFromChildDirectory)
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{
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BehaviorTreeFactory factory;
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// should not throw
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Tree tree = factory.createTreeFromFile((environment->executable_path.parent_path() / "trees/parent_include_child_include_child.xml").str());
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ASSERT_EQ(NodeStatus::SUCCESS, tree.tickRoot());
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}
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TEST(BehaviorTreeFactory, CreateTreeFromFileWhichIncludesFileFromChildDirectoryWhichIncludesFileFromParentDirectory)
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{
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BehaviorTreeFactory factory;
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// should not throw
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Tree tree = factory.createTreeFromFile((environment->executable_path.parent_path() / "trees/parent_include_child_include_parent.xml").str());
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ASSERT_EQ(NodeStatus::SUCCESS, tree.tickRoot());
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}
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#endif

‎tests/gtest_tree.cpp

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@@ -14,6 +14,7 @@
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#include "action_test_node.h"
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#include "condition_test_node.h"
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#include "behaviortree_cpp_v3/behavior_tree.h"
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#include "environment.h"
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#include <sstream>
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#include <string>
@@ -118,8 +119,16 @@ TEST_F(BehaviorTreeTest, PrintWithStream)
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ASSERT_TRUE(std::getline(stream, line, '\n').fail());
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}
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// define extern variable from environment.h
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Environment* environment;
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int main(int argc, char** argv)
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{
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testing::InitGoogleTest(&argc, argv);
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// gtest will take ownership of this pointer and free it for us
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environment = new Environment(argc, argv);
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testing::AddGlobalTestEnvironment(environment);
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return RUN_ALL_TESTS();
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}

‎tests/include/environment.h

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#ifndef ENVIRONMENT_H
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#define ENVIRONMENT_H
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#include <gtest/gtest.h>
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#include "filesystem/path.h"
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class Environment : public testing::Environment
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{
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public:
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Environment(int argc, char** argv)
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{
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if (argc >= 1)
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{
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executable_path = filesystem::path(argv[0]).make_absolute();
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}
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}
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// the absolute path to the test executable
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filesystem::path executable_path;
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};
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// for accessing the environment within a test
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extern Environment* environment;
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#endif

‎tests/trees/child/child/child_child_no_include.xml

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<root main_tree_to_execute = "ChildChildNoInclude">
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<BehaviorTree ID="ChildChildNoInclude">
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<AlwaysSuccess />
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</BehaviorTree>
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</root>

‎tests/trees/child/child_include_child.xml

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<root main_tree_to_execute = "ChildIncludeChild">
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<include path="child/child_child_no_include.xml" />
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<BehaviorTree ID="ChildIncludeChild">
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<Sequence>
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<SubTree ID="ChildChildNoInclude" />
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<AlwaysSuccess />
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</Sequence>
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</BehaviorTree>
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</root>

‎tests/trees/child/child_include_parent.xml

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<root main_tree_to_execute = "ChildIncludeParent">
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<include path="../parent_no_include.xml" />
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<BehaviorTree ID="ChildIncludeParent">
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<Sequence>
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<SubTree ID="ParentNoInclude" />
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<AlwaysSuccess />
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</Sequence>
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</BehaviorTree>
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</root>

‎tests/trees/child/child_include_sibling.xml

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<root main_tree_to_execute = "ChildIncludeSibling">
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<include path="child_no_include.xml" />
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<BehaviorTree ID="ChildIncludeSibling">
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<Sequence>
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<SubTree ID="ChildNoInclude" />
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<AlwaysSuccess />
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</Sequence>
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</BehaviorTree>
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</root>

‎tests/trees/child/child_no_include.xml

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<root main_tree_to_execute = "ChildNoInclude">
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<BehaviorTree ID="ChildNoInclude">
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<AlwaysSuccess />
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</BehaviorTree>
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</root>

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