| 33 | } // namespace |
| 34 | |
| 35 | TEST(Substitution, Parser) |
| 36 | { |
| 37 | BehaviorTreeFactory factory; |
| 38 | |
| 39 | factory.loadSubstitutionRuleFromJSON(json_text); |
| 40 | |
| 41 | const auto& rules = factory.substitutionRules(); |
| 42 | |
| 43 | ASSERT_EQ(rules.size(), 3); |
| 44 | ASSERT_EQ(rules.count("actionA"), 1); |
| 45 | ASSERT_EQ(rules.count("actionB"), 1); |
| 46 | ASSERT_EQ(rules.count("actionC"), 1); |
| 47 | |
| 48 | auto configA = std::get_if<TestNodeConfig>(&rules.at("actionA")); |
| 49 | ASSERT_EQ(configA->return_status, NodeStatus::SUCCESS); |
| 50 | ASSERT_EQ(configA->async_delay, std::chrono::milliseconds(2000)); |
| 51 | ASSERT_EQ(configA->post_script, "msg ='message SUBSTITUED'"); |
| 52 | |
| 53 | auto configB = std::get_if<TestNodeConfig>(&rules.at("actionB")); |
| 54 | ASSERT_EQ(configB->return_status, NodeStatus::FAILURE); |
| 55 | ASSERT_EQ(configB->async_delay, std::chrono::milliseconds(0)); |
| 56 | ASSERT_TRUE(configB->post_script.empty()); |
| 57 | |
| 58 | ASSERT_EQ(*std::get_if<std::string>(&rules.at("actionC")), "NotAConfig"); |
| 59 | } |
| 60 | |
| 61 | // Regression test for issue #934: segfault when substituting a SubTree node |
| 62 | TEST(Substitution, SubTreeNodeSubstitution) |
nothing calls this directly
no test coverage detected