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tests: added GTest to prove line number is recursively correct
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‎tests/gtest_factory.cpp

Lines changed: 101 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,8 @@
22
#include <filesystem>
33
#include <string>
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#include <utility>
5-
#include <vector>
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#include "behaviortree_cpp/bt_factory.h"
6+
#include "behaviortree_cpp/exceptions.h"
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#include "behaviortree_cpp/xml_parsing.h"
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#include "../sample_nodes/crossdoor_nodes.h"
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#include "../sample_nodes/dummy_nodes.h"
@@ -102,6 +103,78 @@ static const char* xml_text_subtree_part2 = R"(
102103
</BehaviorTree>
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</root> )";
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static const char* xml_text_incorrect1 = R"(
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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<Sequence name="MainObjective">
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<Action ID="Script" />
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<Action ID="Script" />
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<Decorator ID="RetryUntilSuccessful" num_attempts="-1">
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<Decorator ID="Precondition">
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<Control ID="Parallel">
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<Control ID="IfThenElse">
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<Sequence>
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<Action ID="TriggerServer"/>
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<Action ID="LogMessage"/>
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<Action ID="Script" />
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</Sequence>
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<Action ID="AlwaysFailure" />
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</Control>
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<Sequence>
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<Decorator ID="Precondition">
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<Sequence>
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<Decorator ID="Precondition">
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<Sequence>
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<Action ID="LogMessage"/>
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<Action ID="ValveControl"/>
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</Sequence>
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</Decorator>
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<Action ID="TriggerServer"/>
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<Action ID="LogMessage"/>
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</Sequence>
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</Decorator>
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<Control ID="Fallback">
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<Sequence>
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<Decorator ID="Precondition">
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<Sequence>
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<Action ID="LogMessage"/>
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<Action ID="ValveControl"/>
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<Decorator ID="Delay" delay_msec="1000" />
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</Sequence>
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</Decorator>
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</Sequence>
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<Decorator ID="Inverter">
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<Action ID="Script" code="retry := 'false'" />
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</Decorator>
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</Control>
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</Sequence>
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</Control>
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</Decorator>
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</Decorator>
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<Decorator ID="Precondition" else="SUCCESS" if="retry == 'false'">
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<Action ID="AlwaysFailure" />
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</Decorator>
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</Sequence>
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</BehaviorTree>
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</root>
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)";
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162+
static const char* xml_text_incorrect2 = R"(
163+
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<root BTCPP_format="4">
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<BehaviorTree ID="DoorClosedSubtree">
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<Sequence name="door_sequence">
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<Decorator ID="Inverter">
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<Action ID="IsDoorLocked" />
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</Decorator>
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<Decorator ID="RepeatUntilSuccess" />
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<Action ID="OpenDoor" />
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<Action ID="PassThroughDoor" />
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<Action ID="CloseDoor" />
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</Sequence>
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</BehaviorTree>
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</root> )";
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105178
// clang-format on
106179

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TEST(BehaviorTreeFactory, NotRegisteredNode)
@@ -173,6 +246,33 @@ TEST(BehaviorTreeFactory, Subtree)
173246
ASSERT_EQ(subtree->nodes[4]->name(), "SmashDoor");
174247
}
175248

249+
TEST(BehaviorTreeFactory, SubtreeParsingError)
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{
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BehaviorTreeFactory factory;
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CrossDoor cross_door;
253+
cross_door.registerNodes(factory);
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try
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{
256+
auto tree = factory.createTreeFromText(xml_text_incorrect1);
257+
FAIL() << "Expected exception thrown";
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}
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catch(const BT::RuntimeError& e)
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{
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std::string error_msg = e.what();
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EXPECT_TRUE(error_msg.find("line 36") != std::string::npos);
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}
264+
try
265+
{
266+
auto tree = factory.createTreeFromText(xml_text_incorrect2);
267+
FAIL() << "Expected exception thrown";
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}
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catch(const BT::RuntimeError& e)
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{
271+
std::string error_msg = e.what();
272+
EXPECT_TRUE(error_msg.find("line 7") != std::string::npos);
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}
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}
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TEST(BehaviorTreeFactory, Issue7)
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{
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const std::string xml_text_issue = R"(

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