fix issue #507

Author: facontidavide

include/behaviortree_cpp/decorators/subtree_node.h

@@ -50,20 +50,15 @@ namespace BT
 class SubTreeNode : public DecoratorNode
 {
 public:
-  SubTreeNode(const std::string& instance_name);
+  SubTreeNode(const std::string& name, const NodeConfig& config);
 
   virtual ~SubTreeNode() override = default;
 
+  static PortsList providedPorts();
+
 private:
   virtual BT::NodeStatus tick() override;
 
-  static PortsList providedPorts()
-  {
-    return {InputPort<bool>("_autoremap", false,
-                            "If true, all the ports with the same name will be "
-                            "remapped")};
-  }
-
   virtual NodeType type() const override final
   {
     return NodeType::SUBTREE;

src/decorators/subtree_node.cpp

@@ -1,11 +1,23 @@
 #include "behaviortree_cpp/decorators/subtree_node.h"
 
-BT::SubTreeNode::SubTreeNode(const std::string& instance_name) :
-  DecoratorNode(instance_name, {})
+BT::SubTreeNode::SubTreeNode(const std::string& name,
+                             const NodeConfig &config) :
+  DecoratorNode(name, config)
 {
   setRegistrationID("SubTree");
 }
 
+BT::PortsList BT::SubTreeNode::providedPorts()
+{
+  auto port = PortInfo(PortDirection::INPUT, typeid(bool),
+                       GetAnyFromStringFunctor<bool>());
+  port.setDefaultValue("false");
+  port.setDescription("If true, all the ports with the same name "
+                      "will be remapped");
+
+  return {{"_autoremap", port}};
+}
+
 BT::NodeStatus BT::SubTreeNode::tick()
 {
   NodeStatus prev_status = status();

src/xml_parsing.cpp

@@ -537,12 +537,32 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement* element,
   NodeConfig config;
   config.blackboard = blackboard;
 
+  //---------------------------------------------
+  auto AddPrePostConditions = [&](auto& config) {
+    auto AddCondition = [&](auto& conditions, const char* attr_name, auto ID) {
+      if (auto script = element->Attribute(attr_name))
+      {
+        conditions.insert({ID, std::string(script)});
+      }
+    };
+    AddCondition(config.pre_conditions, "_successIf", PreCond::SUCCESS_IF);
+    AddCondition(config.pre_conditions, "_failureIf", PreCond::FAILURE_IF);
+    AddCondition(config.pre_conditions, "_skipIf", PreCond::SKIP_IF);
+    AddCondition(config.pre_conditions, "_while", PreCond::WHILE_TRUE);
+
+    AddCondition(config.post_conditions, "_onSuccess", PostCond::ON_SUCCESS);
+    AddCondition(config.post_conditions, "_onFailure", PostCond::ON_FAILURE);
+    AddCondition(config.post_conditions, "_onHalted", PostCond::ON_HALTED);
+    AddCondition(config.post_conditions, "_post", PostCond::ALWAYS);
+  };
+
   //---------------------------------------------
   TreeNode::Ptr new_node;
 
   if (node_type == NodeType::SUBTREE)
   {
-    new_node = std::make_unique<SubTreeNode>(instance_name);
+    AddPrePostConditions(config);
+    new_node = factory.instantiateTreeNode(instance_name, toStr(NodeType::SUBTREE), config);
   }
   else
   {
@@ -638,23 +658,7 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement* element,
       }
     }
 
-    auto AddCondition = [&](auto& conditions, const char* attr_name, auto ID) {
-      if (auto script = element->Attribute(attr_name))
-      {
-        conditions.insert({ID, std::string(script)});
-      }
-    };
-
-    AddCondition(config.pre_conditions, "_successIf", PreCond::SUCCESS_IF);
-    AddCondition(config.pre_conditions, "_failureIf", PreCond::FAILURE_IF);
-    AddCondition(config.pre_conditions, "_skipIf", PreCond::SKIP_IF);
-    AddCondition(config.pre_conditions, "_while", PreCond::WHILE_TRUE);
-
-    AddCondition(config.post_conditions, "_onSuccess", PostCond::ON_SUCCESS);
-    AddCondition(config.post_conditions, "_onFailure", PostCond::ON_FAILURE);
-    AddCondition(config.post_conditions, "_onHalted", PostCond::ON_HALTED);
-    AddCondition(config.post_conditions, "_post", PostCond::ALWAYS);
-
+    AddPrePostConditions(config);
     new_node = factory.instantiateTreeNode(instance_name, type_ID, config);
   }
 

tests/gtest_skipping.cpp

@@ -58,3 +58,38 @@ TEST(SkippingLogic, SkipAll)
   ASSERT_EQ(counters[2], 0);
   ASSERT_EQ(status, NodeStatus::SKIPPED);
 }
+
+
+TEST(SkippingLogic, SkipSubtree)
+{
+  BehaviorTreeFactory factory;
+  std::array<int, 3> counters;
+  RegisterTestTick(factory, "Test", counters);
+
+  const std::string xml_text = R"(
+
+    <root BTCPP_format="4" >
+        <BehaviorTree ID="main">
+            <Sequence>
+                <TestA/>
+                <Script code=" data:=true "/>
+                <SubTree ID="sub" _skipIf="data"/>
+            </Sequence>
+        </BehaviorTree>
+
+        <BehaviorTree ID="sub">
+            <TestB/>
+        </BehaviorTree>
+    </root>)";
+
+  factory.registerBehaviorTreeFromText(xml_text);
+  auto tree = factory.createTree("main");
+
+  tree.rootBlackboard()->set("A", 1);
+
+  const auto status = tree.tickWhileRunning();
+  ASSERT_EQ(counters[0], 1);
+  ASSERT_EQ(counters[1], 0);
+  ASSERT_EQ(status, NodeStatus::SUCCESS);
+}
+