fix tests that were failing due to bad assumptions

Author: EzraBrooks

package.xml

@@ -24,6 +24,7 @@
   <depend>libzmq3-dev</depend>
 
   <test_depend >ament_cmake_gtest</test_depend>
+  <test_depend >ament_cmake_gmock</test_depend>
 
   <export>
       <build_type >ament_cmake</build_type>

tests/CMakeLists.txt

@@ -37,8 +37,9 @@ set(BT_TESTS
 if(ament_cmake_FOUND)
 
     find_package(ament_cmake_gtest REQUIRED)
+    find_package(ament_cmake_gmock REQUIRED)
 
-    ament_add_gtest(${BTCPP_LIBRARY}_test ${BT_TESTS})
+    ament_add_gmock(${BTCPP_LIBRARY}_test ${BT_TESTS})
     target_link_libraries(${BTCPP_LIBRARY}_test
         ${TEST_DEPENDECIES}
         ${ament_LIBRARIES})
@@ -53,7 +54,9 @@ else()
 
     target_link_libraries(behaviortree_cpp_test
         GTest::gtest
-        GTest::gtest_main)
+        GTest::gtest_main
+        GTest::gmock
+    )
 
 endif()
 

tests/gtest_factory.cpp

@@ -1,4 +1,5 @@
 #include <gtest/gtest.h>
+#include <gmock/gmock.h>
 #include <filesystem>
 #include <string>
 #include <utility>
@@ -83,7 +84,7 @@ static const char* xml_text_subtree_part1 = R"(
   <BehaviorTree ID="MainTree">
     <Fallback name="root_selector">
       <SubTree ID="DoorClosedSubtree" />
-      <Action ID="PassThroughWindow" />
+      <Action ID="PassThroughDoor" />
     </Fallback>
   </BehaviorTree>
 </root>  )";
@@ -94,11 +95,10 @@ static const char* xml_text_subtree_part2 = R"(
   <BehaviorTree ID="DoorClosedSubtree">
     <Sequence name="door_sequence">
       <Decorator ID="Inverter">
-        <Action ID="IsDoorLocked" />
+        <Action ID="IsDoorClosed" />
       </Decorator>
       <Action ID="OpenDoor" />
       <Action ID="PassThroughDoor" />
-      <Action ID="CloseDoor" />
     </Sequence>
   </BehaviorTree>
 </root>  )";
@@ -259,7 +259,7 @@ TEST(BehaviorTreeFactory, SubtreeParsingError)
   catch(const BT::RuntimeError& e)
   {
     std::string error_msg = e.what();
-    EXPECT_TRUE(error_msg.find("line 36") != std::string::npos);
+    EXPECT_THAT(error_msg, ::testing::HasSubstr("line 11"));
   }
   try
   {
@@ -269,7 +269,7 @@ TEST(BehaviorTreeFactory, SubtreeParsingError)
   catch(const BT::RuntimeError& e)
   {
     std::string error_msg = e.what();
-    EXPECT_TRUE(error_msg.find("line 7") != std::string::npos);
+    EXPECT_THAT(error_msg, ::testing::HasSubstr("line 5"));
   }
 }