bugfix: string to enum/integer/boolean in scripts

BehaviorTree · Mar 7, 2024 · d974b6b · d974b6b
1 parent 61589d1
commit d974b6b
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Showing 2 changed files with 61 additions and 9 deletions.
diff --git a/include/behaviortree_cpp/scripting/operators.hpp b/include/behaviortree_cpp/scripting/operators.hpp
@@ -13,8 +13,6 @@
 #pragma once
 
 #include <cmath>
-#include <cstdio>
-#include <unordered_map>
 #include <memory>
 #include <string>
 #include <vector>
@@ -30,6 +28,27 @@ using SimpleString = SafeAny::SimpleString;
 
 using expr_ptr = std::shared_ptr<struct ExprBase>;
 
+// extended strin to number that consider enums and booleans
+double StringToDouble(const Any& value, const Environment& env)
+{
+  const auto str = value.cast<std::string>();
+  if(str == "true") {
+    return 1.0;
+  }
+  if(str == "false") {
+    return 0.0;
+  }
+  if(env.enums)
+  {
+    auto it = env.enums->find(str);
+    if(it != env.enums->end())
+    {
+      return it->second;
+    }
+  }
+  return value.cast<double>();
+}
+
 struct ExprBase
 {
   using Ptr = std::shared_ptr<ExprBase>;
@@ -380,16 +399,24 @@ struct ExprComparison : ExprBase
           return False;
         }
       }
-      else if ((lhs_v.isString() && rhs_v.isNumber()) ||
-               (lhs_v.isNumber() && rhs_v.isString()))
+      else if (lhs_v.isString() && rhs_v.isNumber())
       {
-        auto lv = lhs_v.cast<double>();
+        auto lv = StringToDouble(lhs_v, env);
         auto rv = rhs_v.cast<double>();
         if (!SwitchImpl(lv, rv, ops[i]))
         {
           return False;
         }
       }
+      else if (lhs_v.isNumber() && rhs_v.isString())
+      {
+        auto lv = lhs_v.cast<double>();
+        auto rv = StringToDouble(rhs_v, env);
+        if (!SwitchImpl(lv, rv, ops[i]))
+        {
+          return False;
+        }
+      }
       else
       {
         throw RuntimeError(StrCat("Can't mix different types in Comparison. "

diff --git a/tests/gtest_preconditions.cpp b/tests/gtest_preconditions.cpp
@@ -300,6 +300,22 @@ TEST(Preconditions, Issue615_NoSkipWhenRunning_B)
 }
 
 
+class SimpleOutput : public BT::SyncActionNode
+{
+public:
+  SimpleOutput(const std::string& name, const BT::NodeConfig& config) :
+      BT::SyncActionNode(name, config){}
+
+  static BT::PortsList providedPorts() {
+    return { OutputPort<bool>("output")};
+  }
+
+  BT::NodeStatus tick() override {
+    setOutput("output", true);
+    return BT::NodeStatus::SUCCESS;
+  }
+
+};
 
 TEST(Preconditions, Remapping)
 {
@@ -308,23 +324,32 @@ TEST(Preconditions, Remapping)
 
     <BehaviorTree ID="Main">
       <Sequence>
-        <Script  code="value:=1" />
+        <SimpleOutput  output="{param}" />
+        <Script  code="value:=true" />
+
+        <SubTree ID="Sub1" param="{param}"/>
         <SubTree ID="Sub1" param="{value}"/>
-        <TestA _skipIf="value!=1" />
+        <SubTree ID="Sub1" param="true"/>
+        <TestA/>
       </Sequence>
     </BehaviorTree>
 
     <BehaviorTree ID="Sub1">
       <Sequence>
-        <TestB _skipIf="param!=1" />
+        <SubTree ID="Sub2" _skipIf="param != true" />
       </Sequence>
     </BehaviorTree>
+
+    <BehaviorTree ID="Sub2">
+      <TestB/>
+    </BehaviorTree>
   </root>
   )";
 
   BehaviorTreeFactory factory;
 
   std::array<int, 2> counters;
+  factory.registerNodeType<SimpleOutput>("SimpleOutput");
   RegisterTestTick(factory, "Test", counters);
 
   factory.registerBehaviorTreeFromText(xml_text);
@@ -334,5 +359,5 @@ TEST(Preconditions, Remapping)
 
   ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
   ASSERT_EQ( counters[0], 1 );
-  ASSERT_EQ( counters[1], 1 );
+  ASSERT_EQ( counters[1], 3 );
 }