Function TEST

tests/gtest_parallel.cpp:410–450

}

TEST(Parallel, FailingParallel)
{
  static const char* xml_text = R"(
<root BTCPP_format="4">
  <BehaviorTree ID="MainTree">
    <Parallel name="parallel" success_count="1" failure_count="3">
      <GoodTest name="first"/>
      <BadTest name="second"/>
      <SlowTest name="third"/>
    </Parallel>
  </BehaviorTree>
</root>  )";
  using namespace BT;

  BehaviorTreeFactory factory;

  BT::TestNodeConfig good_config;
  good_config.async_delay = std::chrono::milliseconds(200);
  good_config.return_status = NodeStatus::SUCCESS;
  factory.registerNodeType<BT::TestNode>("GoodTest", good_config);

  BT::TestNodeConfig bad_config;
  bad_config.async_delay = std::chrono::milliseconds(100);
  bad_config.return_status = NodeStatus::FAILURE;
  factory.registerNodeType<BT::TestNode>("BadTest", bad_config);

  BT::TestNodeConfig slow_config;
  slow_config.async_delay = std::chrono::milliseconds(300);
  slow_config.return_status = NodeStatus::SUCCESS;
  factory.registerNodeType<BT::TestNode>("SlowTest", slow_config);

  auto tree = factory.createTreeFromText(xml_text);
  BT::TreeObserver observer(tree);

  auto state = tree.tickWhileRunning();
  // since at least one succeeded.
  ASSERT_EQ(NodeStatus::SUCCESS, state);
  ASSERT_EQ(1, observer.getStatistics("first").success_count);
  ASSERT_EQ(1, observer.getStatistics("second").failure_count);
  ASSERT_EQ(0, observer.getStatistics("third").failure_count);
}

TEST(Parallel, ParallelAll)
{