Function TEST_F

tests/gtest_plugin_issue953.cpp:46–79

Test that getInput works for a custom type defined only in the plugin

// Test that getInput works for a custom type defined only in the plugin
TEST_F(PluginIssue953Test, GetInputUsesStoredConverter)
{
  // This XML uses a literal string value for the input port
  const char* xml_text = R"(
    <root BTCPP_format="4">
      <BehaviorTree ID="MainTree">
        <Issue953Action input="42;hello_world;3.14159"/>
      </BehaviorTree>
    </root>
  )";

  BehaviorTreeFactory factory;

  // Load the plugin - this registers Issue953Action
  // The plugin has the convertFromString<Issue953Type> specialization,
  // but THIS file does not.
  factory.registerFromPlugin(plugin_path_);

  auto tree = factory.createTreeFromText(xml_text);

  // This should work because:
  // 1. InputPort<Issue953Type>() was called in the plugin
  // 2. GetAnyFromStringFunctor captured convertFromString at that point
  // 3. The fix makes getInput() use that stored converter
  auto status = tree.tickWhileRunning();

  ASSERT_EQ(status, NodeStatus::SUCCESS);

  // Verify the parsed values via output ports
  auto bb = tree.rootBlackboard();
  EXPECT_EQ(bb->get<int>("out_id"), 42);
  EXPECT_EQ(bb->get<std::string>("out_name"), "hello_world");
  EXPECT_DOUBLE_EQ(bb->get<double>("out_value"), 3.14159);
}

// Test with blackboard - value stored as string, then parsed on read
TEST_F(PluginIssue953Test, GetInputFromBlackboardString)