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add unit test for subtree with default values and autoremap enabled #1272

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add unit test for subtree with default values and autoremap enabled #1272

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1eb3a52
add unit test for subtree with default values and autoremap enabled
ottojo Oct 29, 2026
51634d5
clang-format
ottojo Oct 29, 2026
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66 changes: 66 additions & 0 deletions tests/gtest_subtree.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -594,6 +594,72 @@ TEST(SubTree, SubtreeModels)
tree.tickWhileRunning();
}

TEST(SubTree, SubtreeModelDefault)
{
// clang-format off

static const char* xml_text = R"(
<root main_tree_to_execute = "MainTree" BTCPP_format="4">
<TreeNodesModel>
<SubTree ID="MySub">
<input_port name="in_value" default="42"/>
</SubTree>
</TreeNodesModel>

<BehaviorTree ID="MainTree">
<Sequence>
<SubTree ID="MySub" />
</Sequence>
</BehaviorTree>

<BehaviorTree ID="MySub">
<Sequence>
<ScriptCondition code="in_value==42" />
</Sequence>
</BehaviorTree>
</root>
)";

// clang-format on

BehaviorTreeFactory factory;
auto tree = factory.createTreeFromText(xml_text);
tree.tickWhileRunning();
}

TEST(SubTree, SubtreeModelDefaultWithAutoremap)
{
// clang-format off

static const char* xml_text = R"(
<root main_tree_to_execute = "MainTree" BTCPP_format="4">
<TreeNodesModel>
<SubTree ID="MySub">
<input_port name="in_value" default="42"/>
</SubTree>
</TreeNodesModel>

<BehaviorTree ID="MainTree">
<Sequence>
<SubTree ID="MySub" _autoremap="true" />
</Sequence>
</BehaviorTree>

<BehaviorTree ID="MySub">
<Sequence>
<ScriptCondition code="in_value==42" />
</Sequence>
</BehaviorTree>
</root>
)";

// clang-format on

BehaviorTreeFactory factory;
auto tree = factory.createTreeFromText(xml_text);
tree.tickWhileRunning();
}

class PrintToConsole : public BT::SyncActionNode
{
public:
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