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Commit38f9b42

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Add unit test for Any/Blackboard type casting
1 parentb5cba99 commit38f9b42

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2 files changed

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2 files changed

+189
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‎tests/gtest_any.cpp‎

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@@ -17,6 +17,7 @@
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#include<gtest/gtest.h>
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#include<behaviortree_cpp/utils/safe_any.hpp>
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#include"greeter_test.h"
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usingnamespaceBT;
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@@ -249,4 +250,81 @@ TEST(Any, Cast)
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Anya(v);
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EXPECT_EQ(a.cast<std::vector<int>>(), v);
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}
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/// Issue 943
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// Type casting: polymorphic class w/ registered base class
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{
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auto g = std::make_shared<Greeter>();
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Anyany_g(g);
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EXPECT_NO_THROW(auto res = any_g.cast<Greeter::Ptr>());
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EXPECT_ANY_THROW(auto res = any_g.cast<HelloGreeter::Ptr>());
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EXPECT_ANY_THROW(auto res = any_g.cast<FancyHelloGreeter::Ptr>());
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EXPECT_TRUE(any_g.castPtr<Greeter::Ptr>());
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EXPECT_FALSE(any_g.castPtr<HelloGreeter::Ptr>());
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EXPECT_FALSE(any_g.castPtr<FancyHelloGreeter::Ptr>());
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auto hg = std::make_shared<HelloGreeter>();
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Anyany_hg(hg);
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EXPECT_NO_THROW(auto res = any_hg.cast<Greeter::Ptr>());
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EXPECT_NO_THROW(auto res = any_hg.cast<HelloGreeter::Ptr>());
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EXPECT_ANY_THROW(auto res = any_hg.cast<FancyHelloGreeter::Ptr>());
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EXPECT_TRUE(any_hg.castPtr<Greeter::Ptr>());
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EXPECT_TRUE(any_hg.castPtr<HelloGreeter::Ptr>());
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EXPECT_FALSE(any_hg.castPtr<FancyHelloGreeter::Ptr>());
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auto fhg = std::make_shared<FancyHelloGreeter>();
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Anyany_fhg(fhg);
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EXPECT_NO_THROW(auto res = any_fhg.cast<Greeter::Ptr>());
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EXPECT_NO_THROW(auto res = any_fhg.cast<HelloGreeter::Ptr>());
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EXPECT_NO_THROW(auto res = any_fhg.cast<FancyHelloGreeter::Ptr>());
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EXPECT_TRUE(any_fhg.castPtr<Greeter::Ptr>());
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EXPECT_TRUE(any_fhg.castPtr<HelloGreeter::Ptr>());
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EXPECT_TRUE(any_fhg.castPtr<FancyHelloGreeter::Ptr>());
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// Try to upcast to an incorrectly registered base
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auto u = std::make_shared<Unwelcomer>();
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// OK, fails to compile -> invalid static cast
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// Any any_u(u);
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// EXPECT_ANY_THROW(auto res = any_g.cast<Unwelcomer::Ptr>());
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}
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// Type casting: polymorphic class w/o registered base class
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{
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auto g = std::make_shared<GreeterNoReg>();
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Anyany_g(g);
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EXPECT_NO_THROW(auto res = any_g.cast<GreeterNoReg::Ptr>());
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EXPECT_ANY_THROW(auto res = any_g.cast<HelloGreeterNoReg::Ptr>());
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EXPECT_TRUE(any_g.castPtr<GreeterNoReg::Ptr>());
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EXPECT_FALSE(any_g.castPtr<HelloGreeterNoReg::Ptr>());
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auto hg = std::make_shared<HelloGreeterNoReg>();
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Anyany_hg(hg);
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EXPECT_ANY_THROW(auto res = any_hg.cast<GreeterNoReg::Ptr>());
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EXPECT_NO_THROW(auto res = any_hg.cast<HelloGreeterNoReg::Ptr>());
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EXPECT_FALSE(any_hg.castPtr<GreeterNoReg::Ptr>());
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EXPECT_TRUE(any_hg.castPtr<HelloGreeterNoReg::Ptr>());
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}
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// Type casting: non polymorphic class w/ registered base class
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{
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// OK: static_assert(std::is_polymorphic_v<Base>, "Base must be polymorphic")
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}
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// Type casting: non polymorphic class w/o registered base class
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{
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auto g = std::make_shared<GreeterNoPolyReg>();
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Anyany_g(g);
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EXPECT_NO_THROW(auto res = any_g.cast<GreeterNoPolyReg::Ptr>());
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EXPECT_ANY_THROW(auto res = any_g.cast<HelloGreeterNoPolyReg::Ptr>());
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EXPECT_TRUE(any_g.castPtr<GreeterNoPolyReg::Ptr>());
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EXPECT_FALSE(any_g.castPtr<HelloGreeterNoPolyReg::Ptr>());
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auto hg = std::make_shared<HelloGreeterNoPolyReg>();
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Anyany_hg(hg);
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EXPECT_ANY_THROW(auto res = any_hg.cast<GreeterNoPolyReg::Ptr>());
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EXPECT_NO_THROW(auto res = any_hg.cast<HelloGreeterNoPolyReg::Ptr>());
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EXPECT_FALSE(any_hg.castPtr<GreeterNoPolyReg::Ptr>());
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EXPECT_TRUE(any_hg.castPtr<HelloGreeterNoPolyReg::Ptr>());
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}
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}

‎tests/gtest_blackboard.cpp‎

Lines changed: 111 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -15,6 +15,7 @@
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#include"behaviortree_cpp/blackboard.h"
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#include"../sample_nodes/dummy_nodes.h"
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#include"greeter_test.h"
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usingnamespaceBT;
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@@ -654,3 +655,113 @@ TEST(BlackboardTest, TimestampedInterface)
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ASSERT_EQ(stamp_opt->seq,2);
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ASSERT_GE(stamp_opt->time.count(), nsec_before);
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}
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classCreateHelloGreeter :publicSyncActionNode
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{
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public:
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CreateHelloGreeter(const std::string& name,const NodeConfig& config)
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: SyncActionNode(name, config)
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{}
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NodeStatustick()override
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{
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auto hello_greeter = std::make_shared<HelloGreeter>();
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setOutput("out_derived", hello_greeter);
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return NodeStatus::SUCCESS;
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}
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static PortsListprovidedPorts()
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{
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return { BT::OutputPort<HelloGreeter::Ptr>("out_derived") };
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}
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};
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classSetDerivedParameter :publicSyncActionNode
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{
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public:
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SetDerivedParameter(const std::string& name,const NodeConfig& config)
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: SyncActionNode(name, config)
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{}
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NodeStatustick()override
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{
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int n;
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HelloGreeter::Ptr hello_greeter{};
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getInput("n", n);
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getInput("in_derived", hello_greeter);
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hello_greeter->setDerivedParameter(n);
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hello_greeter->show_msg();
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return NodeStatus::SUCCESS;
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}
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static PortsListprovidedPorts()
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{
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return { BT::InputPort<int>("n"), BT::InputPort<HelloGreeter::Ptr>("in_derived") };
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}
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};
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classShowGreetMessage :publicSyncActionNode
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{
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public:
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ShowGreetMessage(const std::string& name,const NodeConfig& config)
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: SyncActionNode(name, config)
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{}
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NodeStatustick()override
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{
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Greeter::Ptr greeter{};
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getInput("in_base", greeter);
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greeter->show_msg();
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return NodeStatus::SUCCESS;
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}
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static PortsListprovidedPorts()
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{
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return { BT::InputPort<Greeter::Ptr>("in_base") };
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}
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};
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TEST(BlackboardTest, Upcasting_Issue943)
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{
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auto bb =BT::Blackboard::create();
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auto hello_greeter = std::make_shared<HelloGreeter>();
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bb->set("hello_greeter", hello_greeter);
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std::shared_ptr<Greeter> g{};
739+
ASSERT_TRUE(bb->get("hello_greeter", g));
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ASSERT_STREQ("hello", g->show_msg().c_str());
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std::shared_ptr<HelloGreeter> hg{};
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ASSERT_TRUE(bb->get("hello_greeter", hg));
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ASSERT_STREQ("hello", hg->show_msg().c_str());
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std::string xml_txt =R"(
747+
<root BTCPP_format="4" >
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<BehaviorTree ID="Main">
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<Sequence>
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<CreateHelloGreeter out_derived="{hello_greeter}" />
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<SetDerivedParameter in_derived="{hello_greeter}" n="2" />
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<ShowGreetMessage in_base="{hello_greeter}" />
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</Sequence>
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</BehaviorTree>
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</root>)";
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BehaviorTreeFactory factory;
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factory.registerNodeType<CreateHelloGreeter>("CreateHelloGreeter");
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factory.registerNodeType<SetDerivedParameter>("SetDerivedParameter");
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factory.registerNodeType<ShowGreetMessage>("ShowGreetMessage");
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auto tree = factory.createTreeFromText(xml_txt);
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NodeStatus status = tree.tickWhileRunning();
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ASSERT_EQ(status, NodeStatus::SUCCESS);
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}

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