Add unit test for Any/Blackboard type casting

Author: captain-yoshi

tests/gtest_any.cpp

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

tests/gtest_blackboard.cpp

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