Merge branch 'add_vector_to_json'

Author: facontidavide

tests/CMakeLists.txt

@@ -28,6 +28,7 @@ set(BT_TESTS
   gtest_tree.cpp
   gtest_updates.cpp
   gtest_wakeup.cpp
+  gtest_interface.cpp
 
   script_parser_test.cpp
   test_helper.hpp

tests/gtest_interface.cpp

@@ -0,0 +1,70 @@
+#include <gtest/gtest.h>
+
+#include <behaviortree_cpp/bt_factory.h>
+#include <iostream>
+#include <memory>
+
+// interface
+struct IMotor
+{
+  virtual void doMove() = 0;
+};
+
+// implementation
+struct LinearMotor : public IMotor
+{
+  void doMove() override
+  {
+    std::cout << ">> doMove" << std::endl;
+  }
+};
+
+static const char* xml_text = R"(
+<root BTCPP_format="4">
+    <BehaviorTree ID="MainTree">
+        <Sequence name="root_sequence">
+            <PathFollow/>
+        </Sequence>
+    </BehaviorTree>
+</root>
+)";
+
+// node using interface
+class PathFollow : public BT::StatefulActionNode
+{
+public:
+  PathFollow(const std::string& name, const BT::NodeConfig& config, IMotor& motor)
+    : BT::StatefulActionNode(name, config), imotor_(motor)
+  {}
+  static BT::PortsList providedPorts()
+  {
+    return {};
+  }
+  BT::NodeStatus onStart() override
+  {
+    std::cout << "onStart" << std::endl;
+    imotor_.doMove();
+    return BT::NodeStatus::RUNNING;
+  }
+  BT::NodeStatus onRunning() override
+  {
+    std::cout << "onRunning" << std::endl;
+    imotor_.doMove();
+    return BT::NodeStatus::SUCCESS;
+  }
+  void onHalted() override
+  {}
+
+private:
+  IMotor& imotor_;
+};
+
+TEST(Factory, VirtualInterface_Issue_945)
+{
+  LinearMotor motor;
+  BT::BehaviorTreeFactory factory;
+  factory.registerNodeType<PathFollow>("PathFollow", std::ref(motor));
+
+  auto tree = factory.createTreeFromText(xml_text);
+  tree.tickWhileRunning();
+}