Function main

examples/t15_nodes_mocking.cpp:48–161

 */

int main(int /*argc*/, char** /*argv*/)
{
  using namespace DummyNodes;
  BT::BehaviorTreeFactory factory;
  factory.registerNodeType<SaySomething>("SaySomething");
  factory.registerBehaviorTreeFromText(xml_text);

  // let's check what the "original" tree should return
  {
    auto tree = factory.createTree("MainTree");

    std::cout << "----- Nodes fullPath() -------\n";
    // as a reminder, let's print the full names of all the nodes
    tree.applyVisitor(
        [](BT::TreeNode* node) { std::cout << node->fullPath() << std::endl; });

    std::cout << "\n------ Output (original) ------\n";
    tree.tickWhileRunning();
  }

  // We have three mechanisms to create Nodes to be used as "mocks".
  // We will see later how to use them.

  //---------------------------------------------------------------
  // Mock type 1: register a specific "dummy" Node into the factory
  // You can use any registration method, but to keep this short,
  // we use registerSimpleAction()

  factory.registerSimpleAction("DummyAction", [](BT::TreeNode& self) {
    std::cout << "DummyAction substituting node with fullPath(): " << self.fullPath()
              << std::endl;
    return BT::NodeStatus::SUCCESS;
  });

  factory.registerSimpleAction("DummySaySomething", [](BT::TreeNode& self) {
    auto msg = self.getInput<std::string>("message");
    std::cout << "DummySaySomething: " << msg.value() << std::endl;
    return BT::NodeStatus::SUCCESS;
  });

  //---------------------------------------------------------------
  // Mock type 2: Use our configurable BT::TestNode

  // This is the configuration passed to the TestNode
  BT::TestNodeConfig test_config;
  // we want this to return always SUCCESS
  test_config.return_status = BT::NodeStatus::SUCCESS;
  // Convert the node in asynchronous and wait 2000 ms
  test_config.async_delay = std::chrono::milliseconds(2000);
  // Execute this postcondition, once completed
  test_config.post_script = "msg := 'message SUBSTITUTED' ";

  // this will be synchronous (async_delay is 0)
  BT::TestNodeConfig counting_config;
  counting_config.return_status = BT::NodeStatus::SUCCESS;

  //---------------------------------------------------------------
  // Next, we want to substitute one or more of out Nodes with this mocks