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BehaviorTree
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Merge 98b2218062 into 8d47d397e7

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Jorge Santos Simón 2025-07-31 22:45:16 +07:00 committed by GitHub
parent 8d47d397e7 98b2218062
commit ce65b96337
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2 changed files with 17 additions and 10 deletions
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2
src/xml_parsing.cpp
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@ -703,7 +703,7 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
") but not in the providedPorts() of its " ") but not in the providedPorts() of its "
"registered node type.")); "registered node type."));
} }
else else if(!port_value.empty())
{ {
const auto& port_model = port_model_it->second; const auto& port_model = port_model_it->second;
bool is_blacbkboard = port_value.size() >= 3 && port_value.front() == '{' && bool is_blacbkboard = port_value.size() >= 3 && port_value.front() == '{' &&

25
tests/gtest_ports.cpp
View File

@ -704,29 +704,36 @@ TEST(PortTest, Default_Issues_767)
"default nullptr")); "default nullptr"));
} }
TEST(PortTest, DefaultWronglyOverriden) TEST(PortTest, AllowEmptyValues)
{ {
BT::BehaviorTreeFactory factory; BT::BehaviorTreeFactory factory;
factory.registerNodeType<NodeWithPorts>("NodeWithPorts");
factory.registerNodeType<NodeWithDefaultNullptr>("NodeWithDefaultNullptr"); factory.registerNodeType<NodeWithDefaultNullptr>("NodeWithDefaultNullptr");
std::string xml_txt_wrong = R"( std::string xml_txt_empty_number = R"(
<root BTCPP_format="4" >
<BehaviorTree>
<NodeWithPorts in_port_A=""/>
</BehaviorTree>
</root>)";
std::string xml_txt_empty_pointer = R"(
<root BTCPP_format="4" > <root BTCPP_format="4" >
<BehaviorTree> <BehaviorTree>
<NodeWithDefaultNullptr input=""/> <NodeWithDefaultNullptr input=""/>
</BehaviorTree> </BehaviorTree>
</root>)"; </root>)";
std::string xml_txt_correct = R"( std::string xml_txt_empty_default = R"(
<root BTCPP_format="4" > <root BTCPP_format="4" >
<BehaviorTree> <BehaviorTree>
<NodeWithDefaultNullptr/> <NodeWithDefaultNullptr/>
</BehaviorTree> </BehaviorTree>
</root>)"; </root>)";
// this should throw, because we are NOT using the default, // All are correct, as we allow empty strings that will get retrieved as std::nullopt
// but overriding it with an empty string instead. // Note that this is the opposite request on issue 768
// See issue 768 for reference ASSERT_NO_THROW(auto tree = factory.createTreeFromText(xml_txt_empty_number));
ASSERT_ANY_THROW(auto tree = factory.createTreeFromText(xml_txt_wrong)); ASSERT_NO_THROW(auto tree = factory.createTreeFromText(xml_txt_empty_pointer));
// This is correct ASSERT_NO_THROW(auto tree = factory.createTreeFromText(xml_txt_empty_default));
ASSERT_NO_THROW(auto tree = factory.createTreeFromText(xml_txt_correct));
} }