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Added BlackboardCheckBool decorator node (#326)
* Added tests for BlackboardCheck decorator node * Added BlackboardCheckBool decorator node
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‎include/behaviortree_cpp_v3/decorators/blackboard_precondition.h

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@@ -42,6 +42,8 @@ class BlackboardPreconditionNode : public DecoratorNode
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setRegistrationID("BlackboardCheckDouble");
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else if( std::is_same<T,std::string>::value)
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setRegistrationID("BlackboardCheckString");
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else if( std::is_same<T,bool>::value)
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setRegistrationID("BlackboardCheckBool");
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}
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virtual ~BlackboardPreconditionNode() override = default;

‎src/bt_factory.cpp

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@@ -53,6 +53,7 @@ BehaviorTreeFactory::BehaviorTreeFactory()
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registerNodeType<BlackboardPreconditionNode<int>>("BlackboardCheckInt");
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registerNodeType<BlackboardPreconditionNode<double>>("BlackboardCheckDouble");
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registerNodeType<BlackboardPreconditionNode<std::string>>("BlackboardCheckString");
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registerNodeType<BlackboardPreconditionNode<bool>>("BlackboardCheckBool");
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registerNodeType<SwitchNode<2>>("Switch2");
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registerNodeType<SwitchNode<3>>("Switch3");

‎tests/CMakeLists.txt

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@@ -13,6 +13,7 @@ set(BT_TESTS
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gtest_factory.cpp
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gtest_decorator.cpp
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gtest_blackboard.cpp
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gtest_blackboard_precondition.cpp
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gtest_ports.cpp
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navigation_test.cpp
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gtest_subtree.cpp

‎tests/gtest_blackboard_precondition.cpp

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#include <gtest/gtest.h>
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#include <string>
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#include "behaviortree_cpp_v3/basic_types.h"
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#include "behaviortree_cpp_v3/bt_factory.h"
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using namespace BT;
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TEST(BlackboardPreconditionTest, IntEquals)
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{
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BehaviorTreeFactory factory;
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const std::string xml_text = R"(
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="MainTree">
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<Sequence>
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<SetBlackboard output_key="a" value="1" />
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<SetBlackboard output_key="b" value="1" />
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<BlackboardCheckInt value_A="{a}" value_B="{b}" return_on_mismatch="SUCCESS">
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<AlwaysFailure />
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</BlackboardCheckInt>
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</Sequence>
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</BehaviorTree>
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</root>)";
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auto tree = factory.createTreeFromText(xml_text);
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const auto status = tree.tickRoot();
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ASSERT_EQ(status, NodeStatus::FAILURE);
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}
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TEST(BlackboardPreconditionTest, IntDoesNotEqual)
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{
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BehaviorTreeFactory factory;
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const std::string xml_text = R"(
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="MainTree">
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<Sequence>
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<SetBlackboard output_key="a" value="1" />
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<SetBlackboard output_key="b" value="2" />
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<BlackboardCheckInt value_A="{a}" value_B="{b}" return_on_mismatch="SUCCESS">
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<AlwaysFailure />
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</BlackboardCheckInt>
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</Sequence>
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</BehaviorTree>
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</root>)";
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auto tree = factory.createTreeFromText(xml_text);
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const auto status = tree.tickRoot();
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ASSERT_EQ(status, NodeStatus::SUCCESS);
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}
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TEST(BlackboardPreconditionTest, DoubleEquals)
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{
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BehaviorTreeFactory factory;
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const std::string xml_text = R"(
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="MainTree">
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<Sequence>
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<SetBlackboard output_key="a" value="1.1" />
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<SetBlackboard output_key="b" value="1.1" />
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<BlackboardCheckDouble value_A="{a}" value_B="{b}" return_on_mismatch="SUCCESS">
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<AlwaysFailure />
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</BlackboardCheckDouble>
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</Sequence>
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</BehaviorTree>
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</root>)";
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auto tree = factory.createTreeFromText(xml_text);
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const auto status = tree.tickRoot();
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ASSERT_EQ(status, NodeStatus::FAILURE);
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}
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TEST(BlackboardPreconditionTest, DoubleDoesNotEqual)
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{
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BehaviorTreeFactory factory;
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const std::string xml_text = R"(
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="MainTree">
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<Sequence>
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<SetBlackboard output_key="a" value="1.1" />
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<SetBlackboard output_key="b" value="2.1" />
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<BlackboardCheckDouble value_A="{a}" value_B="{b}" return_on_mismatch="SUCCESS">
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<AlwaysFailure />
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</BlackboardCheckDouble>
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</Sequence>
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</BehaviorTree>
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</root>)";
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auto tree = factory.createTreeFromText(xml_text);
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const auto status = tree.tickRoot();
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ASSERT_EQ(status, NodeStatus::SUCCESS);
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}
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TEST(BlackboardPreconditionTest, StringEquals)
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{
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BehaviorTreeFactory factory;
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const std::string xml_text = R"(
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="MainTree">
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<Sequence>
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<SetBlackboard output_key="a" value="foo" />
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<SetBlackboard output_key="b" value="foo" />
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<BlackboardCheckString value_A="{a}" value_B="{b}" return_on_mismatch="SUCCESS">
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<AlwaysFailure />
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</BlackboardCheckString>
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</Sequence>
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</BehaviorTree>
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</root>)";
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auto tree = factory.createTreeFromText(xml_text);
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const auto status = tree.tickRoot();
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ASSERT_EQ(status, NodeStatus::FAILURE);
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}
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TEST(BlackboardPreconditionTest, StringDoesNotEqual)
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{
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BehaviorTreeFactory factory;
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const std::string xml_text = R"(
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="MainTree">
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<Sequence>
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<SetBlackboard output_key="a" value="foo" />
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<SetBlackboard output_key="b" value="bar" />
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<BlackboardCheckString value_A="{a}" value_B="{b}" return_on_mismatch="SUCCESS">
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<AlwaysFailure />
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</BlackboardCheckString>
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</Sequence>
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</BehaviorTree>
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</root>)";
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auto tree = factory.createTreeFromText(xml_text);
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const auto status = tree.tickRoot();
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ASSERT_EQ(status, NodeStatus::SUCCESS);
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}
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TEST(BlackboardPreconditionTest, BoolEquals)
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{
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BehaviorTreeFactory factory;
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const std::string xml_text = R"(
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="MainTree">
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<Sequence>
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<SetBlackboard output_key="a" value="true" />
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<SetBlackboard output_key="b" value="true" />
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<BlackboardCheckBool value_A="{a}" value_B="{b}" return_on_mismatch="SUCCESS">
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<AlwaysFailure />
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</BlackboardCheckBool>
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</Sequence>
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</BehaviorTree>
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</root>)";
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auto tree = factory.createTreeFromText(xml_text);
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const auto status = tree.tickRoot();
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ASSERT_EQ(status, NodeStatus::FAILURE);
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}
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TEST(BlackboardPreconditionTest, BoolDoesNotEqual)
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{
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BehaviorTreeFactory factory;
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const std::string xml_text = R"(
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="MainTree">
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<Sequence>
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<SetBlackboard output_key="a" value="true" />
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<SetBlackboard output_key="b" value="false" />
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<BlackboardCheckBool value_A="{a}" value_B="{b}" return_on_mismatch="SUCCESS">
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<AlwaysFailure />
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</BlackboardCheckBool>
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</Sequence>
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</BehaviorTree>
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</root>)";
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auto tree = factory.createTreeFromText(xml_text);
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const auto status = tree.tickRoot();
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ASSERT_EQ(status, NodeStatus::SUCCESS);
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}

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