Add scripted return status support for TestNode mocks

examples/CMakeLists.txt

@@ -35,6 +35,7 @@ CompileExample("t12_default_ports")
 CompileExample("t13_access_by_ref")
 CompileExample("t14_subtree_model")
 CompileExample("t15_nodes_mocking")
+CompileExample("t15_nodes_mocking_strict_failure")
 CompileExample("t16_global_blackboard")
 CompileExample("t17_blackboard_backup")
 CompileExample("t18_waypoints")

examples/t15_nodes_mocking.cpp

@@ -39,7 +39,7 @@ const char* xml_text = R"(
 
 /**
  * @brief In this example we will see how we can substitute some nodes
- * in the Tree above with
+ * in the Tree above with mocks.
  * @param argc
  * @param argv
  * @return

examples/t15_nodes_mocking_strict_failure.cpp

@@ -0,0 +1,143 @@
+#include "dummy_nodes.h"
+
+#include "behaviortree_cpp/bt_factory.h"
+
+// clang-format off
+namespace
+{
+const char* xml_text = R"(
+<root BTCPP_format="4">
+
+  <BehaviorTree ID="MainTree">
+    <Sequence>
+      <SaySomething name="talk" message="hello world"/>
+
+      <SubTree ID="MySub" name="mysub"/>
+
+      <Script name="set_mock_flag" code="mock_should_fail:= false"/>
+      <Script name="set_message" code="msg:= 'the original message' "/>
+      <SaySomething message="{msg}"/>
+
+      <Sequence name="counting">
+        <SaySomething message="1"/>
+        <SaySomething message="2"/>
+        <SaySomething message="3"/>
+      </Sequence>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="MySub">
+    <Sequence>
+      <AlwaysSuccess name="action_subA"/>
+      <AlwaysSuccess name="action_subB"/>
+    </Sequence>
+  </BehaviorTree>
+
+</root>
+ )";
+}  // namespace
+// clang-format on
+
+/**
+ * @brief Companion to tutorial 15 that preserves strict failure propagation.
+ *
+ * If the substituted TestNode resolves to FAILURE, the enclosing Sequence stops
+ * immediately. The final blackboard message is still printed by this executable,
+ * but the tree itself does not log the failure branch through a fallback.
+ */
+
+int main(int /*argc*/, char** /*argv*/)
+{
+  using namespace DummyNodes;
+  BT::BehaviorTreeFactory factory;
+  factory.registerNodeType<SaySomething>("SaySomething");
+  factory.registerBehaviorTreeFromText(xml_text);
+
+  {
+    auto tree = factory.createTree("MainTree");
+
+    std::cout << "----- Nodes fullPath() -------\n";
+    tree.applyVisitor(
+        [](BT::TreeNode* node) { std::cout << node->fullPath() << std::endl; });
+
+    std::cout << "\n------ Output (original) ------\n";
+    auto status = tree.tickWhileRunning();
+    std::cout << "Original status: " << BT::toStr(status, false) << std::endl;
+  }
+
+  factory.registerSimpleAction("DummyAction", [](BT::TreeNode& self) {
+    std::cout << "DummyAction substituting node with fullPath(): " << self.fullPath()
+              << std::endl;
+    return BT::NodeStatus::SUCCESS;
+  });
+
+  factory.registerSimpleAction("DummySaySomething", [](BT::TreeNode& self) {
+    auto msg = self.getInput<std::string>("message");
+    std::cout << "DummySaySomething: " << msg.value() << std::endl;
+    return BT::NodeStatus::SUCCESS;
+  });
+
+  BT::TestNodeConfig test_config;
+  test_config.return_status_script = "(mock_should_fail == true) ? FAILURE : SUCCESS";
+  test_config.async_delay = std::chrono::milliseconds(2000);
+  test_config.success_script = "msg := 'message SUBSTITUTED' ";
+  test_config.failure_script = "msg := 'message FAILURE branch' ";
+
+  BT::TestNodeConfig counting_config;
+  counting_config.return_status = BT::NodeStatus::SUCCESS;
+
+  factory.addSubstitutionRule("mysub/action_*", "DummyAction");
+  factory.addSubstitutionRule("talk", "DummySaySomething");
+  factory.addSubstitutionRule("set_message", test_config);
+  factory.addSubstitutionRule("counting", counting_config);
+
+  auto blackboard = BT::Blackboard::create();
+  auto tree = factory.createTree("MainTree", blackboard);
+  std::cout << "\n------ Output (substituted, strict failure) ------\n";
+  auto status = tree.tickWhileRunning();
+  std::cout << "Substituted status: " << BT::toStr(status, false) << std::endl;
+  if(blackboard->getEntry("msg"))
+  {
+    std::cout << "Substituted final msg: " << blackboard->get<std::string>("msg")
+              << std::endl;
+  }
+
+  return 0;
+}
+
+/* Expected output:
+
+----- Nodes fullPath() -------
+Sequence::1
+talk
+mysub
+mysub/Sequence::4
+mysub/action_subA
+mysub/action_subB
+set_mock_flag
+set_message
+SaySomething::9
+counting
+SaySomething::11
+SaySomething::12
+SaySomething::13
+
+------ Output (original) ------
+Robot says: hello world
+Robot says: the original message
+Robot says: 1
+Robot says: 2
+Robot says: 3
+Original status: SUCCESS
+
+------ Output (substituted, strict failure) ------
+DummySaySomething: hello world
+DummyAction substituting node with fullPath(): mysub/action_subA
+DummyAction substituting node with fullPath(): mysub/action_subB
+Substituted status: SUCCESS
+Substituted final msg: message SUBSTITUTED
+
+If you change mock_should_fail to true in the XML above, the substituted status
+becomes FAILURE and the final msg becomes "message FAILURE branch".
+
+*/

include/behaviortree_cpp/actions/test_node.h

@@ -17,14 +17,27 @@
 #include "behaviortree_cpp/scripting/script_parser.hpp"
 #include "behaviortree_cpp/utils/timer_queue.h"
 
+#include <memory>
+#include <string>
+
 namespace BT
 {
 
 struct TestNodeConfig
 {
-  /// status to return when the action is completed.
+  /// Status to return when the action is completed.
+  /// If return_status_script is also set, the script takes precedence.
   NodeStatus return_status = NodeStatus::SUCCESS;
 
+  /// Optional script to compute the completion status dynamically.
+  ///
+  /// This script is evaluated when the TestNode completes, after any
+  /// async_delay has elapsed, using the current blackboard state.
+  /// The result must resolve to the same set of statuses supported by
+  /// return_status, except IDLE which is always rejected.
+  /// When set, this takes precedence over return_status.
+  std::string return_status_script;
+
   /// script to execute when complete_func() returns SUCCESS
   std::string success_script;
 
@@ -38,14 +51,16 @@ struct TestNodeConfig
   std::chrono::milliseconds async_delay = std::chrono::milliseconds(0);
 
   /// Function invoked when the action is completed.
-  /// If not specified, the node will return [return_status]
+  /// If not specified, the node will use return_status_script when present,
+  /// otherwise it will return [return_status].
   std::function<NodeStatus(void)> complete_func;
 };
 
 /**
  * @brief The TestNode is a Node that can be configure to:
  *
  * 1. Return a specific status (SUCCESS / FAILURE)
+ * 1.b Compute the returned status from a script evaluated at completion time
  * 2. Execute a post condition script (unless halted)
  * 3. Either complete immediately (synchronous action), or after a
  *    given period of time (asynchronous action)
@@ -79,15 +94,17 @@ class TestNode : public BT::StatefulActionNode
   }
 
 protected:
-  virtual NodeStatus onStart() override;
+  NodeStatus onStart() override;
 
-  virtual NodeStatus onRunning() override;
+  NodeStatus onRunning() override;
 
-  virtual void onHalted() override;
+  void onHalted() override;
 
   NodeStatus onCompleted();
 
   std::shared_ptr<TestNodeConfig> _config;
+  EnumsTablePtr _script_enums;
+  ScriptFunction _return_status_executor;
   ScriptFunction _success_executor;
   ScriptFunction _failure_executor;
   ScriptFunction _post_executor;

src/actions/test_node.cpp

@@ -3,6 +3,75 @@
 namespace BT
 {
 
+namespace
+{
+
+bool isAllowedTestNodeStatus(NodeStatus status)
+{
+  switch(status)
+  {
+    case NodeStatus::RUNNING:
+    case NodeStatus::SUCCESS:
+    case NodeStatus::FAILURE:
+    case NodeStatus::SKIPPED:
+      return true;
+
+    case NodeStatus::IDLE:
+      return false;
+  }
+  return false;
+}
+
+void validateTestNodeStatus(NodeStatus status, StringView source)
+{
+  if(!isAllowedTestNodeStatus(status))
+  {
+    throw RuntimeError("TestNode ", std::string(source),
+                       " resolved to invalid status (integer value: ",
+                       std::to_string(static_cast<int>(status)), ")");
+  }
+}
+
+EnumsTablePtr createTestNodeEnums(const EnumsTablePtr& base_enums)
+{
+  auto enums = base_enums ? std::make_shared<EnumsTable>(*base_enums) :
+                            std::make_shared<EnumsTable>();
+
+  (*enums)["IDLE"] = static_cast<int>(NodeStatus::IDLE);
+  (*enums)["RUNNING"] = static_cast<int>(NodeStatus::RUNNING);
+  (*enums)["SUCCESS"] = static_cast<int>(NodeStatus::SUCCESS);
+  (*enums)["FAILURE"] = static_cast<int>(NodeStatus::FAILURE);
+  (*enums)["SKIPPED"] = static_cast<int>(NodeStatus::SKIPPED);
+  return enums;
+}
+
+NodeStatus convertScriptResultToStatus(const Any& result)
+{
+  if(result.empty())
+  {
+    throw RuntimeError("return_status_script returned an empty value");
+  }
+
+  if(result.isString())
+  {
+    auto status = convertFromString<NodeStatus>(result.cast<std::string>());
+    validateTestNodeStatus(status, "return_status_script");
+    return status;
+  }
+
+  if(auto status = result.tryCast<int>())
+  {
+    auto resolved = static_cast<NodeStatus>(status.value());
+    validateTestNodeStatus(resolved, "return_status_script");
+    return resolved;
+  }
+
+  throw RuntimeError("return_status_script must evaluate to a NodeStatus-compatible "
+                     "value");
+}
+
+}  // namespace
+
 TestNode::TestNode(const std::string& name, const NodeConfig& config,
                    TestNodeConfig test_config)
   : TestNode(name, config, std::make_shared<TestNodeConfig>(std::move(test_config)))
@@ -14,11 +83,13 @@ TestNode::TestNode(const std::string& name, const NodeConfig& config,
 {
   setRegistrationID("TestNode");
 
-  if(_config->return_status == NodeStatus::IDLE)
+  if(_config->return_status_script.empty())
   {
-    throw RuntimeError("TestNode can not return IDLE");
+    validateTestNodeStatus(_config->return_status, "return_status");
   }
 
+  _script_enums = createTestNodeEnums(config.enums);
+
   auto prepareScript = [](const std::string& script, auto& executor) {
     if(!script.empty())
     {
@@ -30,6 +101,7 @@ TestNode::TestNode(const std::string& name, const NodeConfig& config,
       executor = result.value();
     }
   };
+  prepareScript(_config->return_status_script, _return_status_executor);
   prepareScript(_config->success_script, _success_executor);
   prepareScript(_config->failure_script, _failure_executor);
   prepareScript(_config->post_script, _post_executor);
@@ -74,10 +146,24 @@ void TestNode::onHalted()
 
 NodeStatus TestNode::onCompleted()
 {
-  Ast::Environment env = { config().blackboard, config().enums };
+  Ast::Environment env = { config().blackboard, _script_enums };
+
+  NodeStatus status = NodeStatus::IDLE;
+
+  if(_config->complete_func)
+  {
+    status = _config->complete_func();
+  }
+  else if(_return_status_executor)
+  {
+    status = convertScriptResultToStatus(_return_status_executor(env));
+  }
+  else
+  {
+    status = _config->return_status;
+  }
 
-  auto status =
-      (_config->complete_func) ? _config->complete_func() : _config->return_status;
+  validateTestNodeStatus(status, "completion");
 
   if(status == NodeStatus::SUCCESS && _success_executor)
   {

src/bt_factory.cpp

@@ -531,9 +531,19 @@ void BehaviorTreeFactory::loadSubstitutionRuleFromJSON(const std::string& json_t
     for(auto const& [name, test_config] : test_configs.items())
     {
       auto& config = configs[name];
+      bool has_return_status = false;
 
-      auto return_status = test_config.at("return_status").get<std::string>();
-      config.return_status = convertFromString<NodeStatus>(return_status);
+      if(test_config.contains("return_status"))
+      {
+        auto return_status = test_config.at("return_status").get<std::string>();
+        config.return_status = convertFromString<NodeStatus>(return_status);
+        has_return_status = true;
+      }
+      if(test_config.contains("return_status_script"))
+      {
+        config.return_status_script =
+            test_config["return_status_script"].get<std::string>();
+      }
       if(test_config.contains("async_delay"))
       {
         config.async_delay =
@@ -551,6 +561,12 @@ void BehaviorTreeFactory::loadSubstitutionRuleFromJSON(const std::string& json_t
       {
         config.failure_script = test_config["failure_script"].get<std::string>();
       }
+
+      if(!has_return_status && config.return_status_script.empty())
+      {
+        throw RuntimeError("TestNodeConfig [", name,
+                           "] must contain return_status or return_status_script");
+      }
     }
   }