Add unit test for upcasting base type chain in PortInfo

Author: captain-yoshi

tests/gtest_ports.cpp

@@ -3,6 +3,7 @@
 #include "behaviortree_cpp/bt_factory.h"
 #include "behaviortree_cpp/xml_parsing.h"
 #include "behaviortree_cpp/json_export.h"
+#include "greeter_test.h"  // upcasting tests
 
 using namespace BT;
 
@@ -730,3 +731,60 @@ TEST(PortTest, DefaultWronglyOverriden)
   // This is correct
   ASSERT_NO_THROW(auto tree = factory.createTreeFromText(xml_txt_correct));
 }
+
+TEST(PortTest, Upcasting_Issue943)
+{
+  using namespace BT;
+
+  auto plant = PortInfo::Create<Plant::Ptr>();  // not registered
+  auto animal = PortInfo::Create<Animal::Ptr>();
+  auto cat = PortInfo::Create<Cat::Ptr>();
+  auto dog = PortInfo::Create<Dog::Ptr>();
+  auto sphynx = PortInfo::Create<SphynxCat::Ptr>();
+
+  ASSERT_EQ(0, plant.baseChain().size());
+  ASSERT_EQ(1, animal.baseChain().size());
+  ASSERT_EQ(2, cat.baseChain().size());
+  ASSERT_EQ(2, dog.baseChain().size());
+  ASSERT_EQ(3, sphynx.baseChain().size());
+
+  ASSERT_EQ(std::type_index(typeid(Animal)), animal.baseChain()[0]);
+  ASSERT_EQ(std::type_index(typeid(Cat)), cat.baseChain()[0]);
+  ASSERT_EQ(std::type_index(typeid(Animal)), cat.baseChain()[1]);
+  ASSERT_EQ(std::type_index(typeid(Dog)), dog.baseChain()[0]);
+  ASSERT_EQ(std::type_index(typeid(Animal)), dog.baseChain()[1]);
+
+  ASSERT_EQ(std::type_index(typeid(SphynxCat)), sphynx.baseChain()[0]);
+  ASSERT_EQ(std::type_index(typeid(Cat)), sphynx.baseChain()[1]);
+  ASSERT_EQ(std::type_index(typeid(Animal)), sphynx.baseChain()[2]);
+
+  ASSERT_FALSE(plant.isConvertibleFrom(std::type_index(typeid(Plant))));
+  ASSERT_FALSE(plant.isConvertibleFrom(std::type_index(typeid(Animal))));
+  ASSERT_FALSE(plant.isConvertibleFrom(std::type_index(typeid(Cat))));
+  ASSERT_FALSE(plant.isConvertibleFrom(std::type_index(typeid(Dog))));
+  ASSERT_FALSE(plant.isConvertibleFrom(std::type_index(typeid(SphynxCat))));
+
+  ASSERT_FALSE(animal.isConvertibleFrom(std::type_index(typeid(Plant))));
+  ASSERT_TRUE(animal.isConvertibleFrom(std::type_index(typeid(Animal))));
+  ASSERT_FALSE(animal.isConvertibleFrom(std::type_index(typeid(Cat))));
+  ASSERT_FALSE(animal.isConvertibleFrom(std::type_index(typeid(Dog))));
+  ASSERT_FALSE(animal.isConvertibleFrom(std::type_index(typeid(SphynxCat))));
+
+  ASSERT_FALSE(cat.isConvertibleFrom(std::type_index(typeid(Plant))));
+  ASSERT_TRUE(cat.isConvertibleFrom(std::type_index(typeid(Animal))));
+  ASSERT_TRUE(cat.isConvertibleFrom(std::type_index(typeid(Cat))));
+  ASSERT_FALSE(cat.isConvertibleFrom(std::type_index(typeid(Dog))));
+  ASSERT_FALSE(cat.isConvertibleFrom(std::type_index(typeid(SphynxCat))));
+
+  ASSERT_FALSE(dog.isConvertibleFrom(std::type_index(typeid(Plant))));
+  ASSERT_TRUE(dog.isConvertibleFrom(std::type_index(typeid(Animal))));
+  ASSERT_FALSE(dog.isConvertibleFrom(std::type_index(typeid(Cat))));
+  ASSERT_TRUE(dog.isConvertibleFrom(std::type_index(typeid(Dog))));
+  ASSERT_FALSE(dog.isConvertibleFrom(std::type_index(typeid(SphynxCat))));
+
+  ASSERT_FALSE(sphynx.isConvertibleFrom(std::type_index(typeid(Plant))));
+  ASSERT_TRUE(sphynx.isConvertibleFrom(std::type_index(typeid(Animal))));
+  ASSERT_TRUE(sphynx.isConvertibleFrom(std::type_index(typeid(Cat))));
+  ASSERT_FALSE(sphynx.isConvertibleFrom(std::type_index(typeid(Dog))));
+  ASSERT_TRUE(sphynx.isConvertibleFrom(std::type_index(typeid(SphynxCat))));
+}

tests/include/greeter_test.h

@@ -3,6 +3,62 @@
 
 #include <behaviortree_cpp/utils/safe_any.hpp>
 
+class Animal
+{
+public:
+  using Ptr = std::shared_ptr<Animal>;
+  virtual ~Animal() = default;
+};
+
+class Cat : public Animal
+{
+public:
+  using Ptr = std::shared_ptr<Cat>;
+};
+
+class SphynxCat : public Cat
+{
+public:
+  using Ptr = std::shared_ptr<SphynxCat>;
+};
+
+class Dog : public Animal
+{
+public:
+  using Ptr = std::shared_ptr<Dog>;
+};
+
+// Not registered
+class Plant
+{
+public:
+  using Ptr = std::shared_ptr<Plant>;
+};
+
+template <>
+struct BT::any_cast_base<Animal>
+{
+  using type = Animal;
+};
+
+template <>
+struct BT::any_cast_base<Cat>
+{
+  using type = Animal;
+};
+
+template <>
+struct BT::any_cast_base<SphynxCat>
+{
+  using type = Cat;
+};
+
+template <>
+struct BT::any_cast_base<Dog>
+{
+  using type = Animal;
+};
+
 /**
  *    +-------------------+------------+-------------+-----------------------------+
  *    |       Class       | Base Class | Polymorphic | Type Trait Registered       |