Function TEST

tests/gtest_decorator.cpp:218–245

}

TEST(Decorator, RunOnce)
{
  BT::BehaviorTreeFactory factory;
  std::array<int, 2> counters{};
  RegisterTestTick(factory, "Test", counters);

  const std::string xml_text = R"(
    <root BTCPP_format="4" >
       <BehaviorTree>
          <Sequence>
            <RunOnce> <TestA/> </RunOnce>
            <TestB/>
          </Sequence>
       </BehaviorTree>
    </root>)";

  auto tree = factory.createTreeFromText(xml_text);

  for(int i = 0; i < 5; i++)
  {
    NodeStatus status = tree.tickWhileRunning();
    ASSERT_EQ(status, NodeStatus::SUCCESS);
  }
  // counters[0] contains the number of times TestA was ticked
  ASSERT_EQ(counters[0], 1);
  // counters[1] contains the number of times TestB was ticked
  ASSERT_EQ(counters[1], 5);
}

// Test for DelayNode with XML: delay_msec port should be honored
TEST(Decorator, DelayWithXML)