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tests: added GTest to prove line number is recursively correct #13

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Jul 31, 2025
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tests: added GTest to prove line number is recursively correct #13

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102 changes: 101 additions & 1 deletion tests/gtest_factory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,8 @@
#include <filesystem>
#include <string>
#include <utility>
#include <vector>
#include "behaviortree_cpp/bt_factory.h"
#include "behaviortree_cpp/exceptions.h"
#include "behaviortree_cpp/xml_parsing.h"
#include "../sample_nodes/crossdoor_nodes.h"
#include "../sample_nodes/dummy_nodes.h"
Expand Down Expand Up @@ -102,6 +103,78 @@ static const char* xml_text_subtree_part2 = R"(
</BehaviorTree>
</root> )";

static const char* xml_text_incorrect1 = R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<Sequence name="MainObjective">
<Action ID="Script" />
<Action ID="Script" />
<Decorator ID="RetryUntilSuccessful" num_attempts="-1">
<Decorator ID="Precondition">
<Control ID="Parallel">
<Control ID="IfThenElse">
<Sequence>
<Action ID="TriggerServer"/>
<Action ID="LogMessage"/>
<Action ID="Script" />
</Sequence>
<Action ID="AlwaysFailure" />
</Control>
<Sequence>
<Decorator ID="Precondition">
<Sequence>
<Decorator ID="Precondition">
<Sequence>
<Action ID="LogMessage"/>
<Action ID="ValveControl"/>
</Sequence>
</Decorator>
<Action ID="TriggerServer"/>
<Action ID="LogMessage"/>
</Sequence>
</Decorator>
<Control ID="Fallback">
<Sequence>
<Decorator ID="Precondition">
<Sequence>
<Action ID="LogMessage"/>
<Action ID="ValveControl"/>
<Decorator ID="Delay" delay_msec="1000" />
</Sequence>
</Decorator>
</Sequence>
<Decorator ID="Inverter">
<Action ID="Script" code="retry := 'false'" />
</Decorator>
</Control>
</Sequence>
</Control>
</Decorator>
</Decorator>
<Decorator ID="Precondition" else="SUCCESS" if="retry == 'false'">
<Action ID="AlwaysFailure" />
</Decorator>
</Sequence>
</BehaviorTree>
</root>
)";

static const char* xml_text_incorrect2 = R"(

<root BTCPP_format="4">
<BehaviorTree ID="DoorClosedSubtree">
<Sequence name="door_sequence">
<Decorator ID="Inverter">
<Action ID="IsDoorLocked" />
</Decorator>
<Decorator ID="RepeatUntilSuccess" />
<Action ID="OpenDoor" />
<Action ID="PassThroughDoor" />
<Action ID="CloseDoor" />
</Sequence>
</BehaviorTree>
</root> )";

// clang-format on

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

TEST(BehaviorTreeFactory, SubtreeParsingError)
{
BehaviorTreeFactory factory;
CrossDoor cross_door;
cross_door.registerNodes(factory);
try
{
auto tree = factory.createTreeFromText(xml_text_incorrect1);
FAIL() << "Expected exception thrown";
}
catch(const BT::RuntimeError& e)
{
std::string error_msg = e.what();
EXPECT_TRUE(error_msg.find("line 36") != std::string::npos);
}
try
{
auto tree = factory.createTreeFromText(xml_text_incorrect2);
FAIL() << "Expected exception thrown";
}
catch(const BT::RuntimeError& e)
{
std::string error_msg = e.what();
EXPECT_TRUE(error_msg.find("line 7") != std::string::npos);
}
}

TEST(BehaviorTreeFactory, Issue7)
{
const std::string xml_text_issue = R"(
Expand Down
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