test that logging works correctly with ReactiveSequence #643

Author: facontidavide

tests/gtest_reactive.cpp

@@ -1,6 +1,7 @@
 #include <gtest/gtest.h>
 #include "behaviortree_cpp/bt_factory.h"
 #include "test_helper.hpp"
+#include "behaviortree_cpp/loggers/bt_observer.h"
 
 using BT::NodeStatus;
 using std::chrono::milliseconds;
@@ -124,3 +125,41 @@ TEST(Reactive, PreTickHooks)
 }
 
 
+TEST(Reactive, TestLogging)
+{
+  using namespace BT;
+
+  static const char* reactive_xml_text = R"(
+<root BTCPP_format="4" >
+  <BehaviorTree ID="Main">
+    <ReactiveSequence>
+      <TestA name="testA"/>
+      <AlwaysSuccess name="success"/>
+      <Sleep msec="100"/>
+    </ReactiveSequence>
+  </BehaviorTree>
+</root>
+)";
+
+  BehaviorTreeFactory factory;
+
+  std::array<int, 1> counters;
+  RegisterTestTick(factory, "Test", counters);
+
+  auto tree = factory.createTreeFromText(reactive_xml_text);
+  TreeObserver observer(tree);
+
+  auto ret = tree.tickWhileRunning();
+  ASSERT_EQ(ret, NodeStatus::SUCCESS);
+
+  int num_ticks = counters[0];
+  ASSERT_GE(num_ticks, 5);
+
+  ASSERT_EQ(observer.getStatistics("testA").success_count, num_ticks);
+  ASSERT_EQ(observer.getStatistics("success").success_count, num_ticks);
+}
+
+
+
+
+