From cd6f00ed5aad26ca500d9574aeef33134c79bd32 Mon Sep 17 00:00:00 2001
From: Ephson24 <leocorp96@gmail.com>
Date: Tue, 14 Mar 2023 15:55:07 +0100
Subject: [PATCH] Fixed skipping issue when using ReactiveSequence continuously
 | Created two tests: SkippingLogic.RepeatedSkippingReactiveSequence and
 SkippingLogic.RepeatedNoSkippingReactiveSequence

---
 src/controls/reactive_sequence.cpp |   2 +-
 tests/gtest_skipping.cpp           | 117 +++++++++++++++++++++++++++++
 tests/script_parser_test.cpp       |   1 +
 3 files changed, 119 insertions(+), 1 deletion(-)

diff --git a/src/controls/reactive_sequence.cpp b/src/controls/reactive_sequence.cpp
index bd36d522f..670466033 100644
--- a/src/controls/reactive_sequence.cpp
+++ b/src/controls/reactive_sequence.cpp
@@ -60,7 +60,7 @@ NodeStatus ReactiveSequence::tick()
     }   // end switch
   }     //end for
 
-  if (success_count == childrenCount())
+  //if (success_count == childrenCount())
   {
     resetChildren();
   }
diff --git a/tests/gtest_skipping.cpp b/tests/gtest_skipping.cpp
index b25572252..3797cea37 100644
--- a/tests/gtest_skipping.cpp
+++ b/tests/gtest_skipping.cpp
@@ -3,6 +3,7 @@
 #include "behaviortree_cpp/basic_types.h"
 #include "behaviortree_cpp/bt_factory.h"
 #include "test_helper.hpp"
+#include "../sample_nodes/dummy_nodes.h"
 
 using namespace BT;
 
@@ -114,3 +115,119 @@ TEST(SkippingLogic, ReactiveSingleChild)
 
   tree.tickWhileRunning();
 }
+
+enum DeviceType { BATT=1, CONTROLLER=2 };
+BT::NodeStatus checkLevel2(BT::TreeNode &self)
+{
+  double percent = self.getInput<double>("percentage").value();
+  DeviceType devType;
+  auto res = self.getInput("deviceType", devType);
+  if(!res) {
+    throw std::runtime_error(res.error());
+  }
+
+  if(devType == DeviceType::BATT)
+  {
+    self.setOutput("isLowBattery", (percent < 25));
+  }
+  std::cout << "Device: " << devType << " Level: " << percent << std::endl;
+  return BT::NodeStatus::SUCCESS;
+}
+
+TEST(SkippingLogic, RepeatedSkippingReactiveSequence)
+{
+  BehaviorTreeFactory factory;
+  std::array<int, 2> counters;
+  RegisterTestTick(factory, "Test", counters);
+
+  //! setting the battery level = 50
+  const std::string xml_text = R"(
+
+    <root BTCPP_format="4" >
+       <BehaviorTree ID="PowerManagerT">
+          <ReactiveSequence>
+             <Script code=" LOW_BATT:=50 "/>
+             <CheckLevel deviceType="BATT"
+                         percentage="{LOW_BATT}"
+                         isLowBattery="{isLowBattery}"/>
+             <TestA _skipIf="!isLowBattery"/>
+             <TestB/>
+         </ReactiveSequence>
+       </BehaviorTree>
+    </root>)";
+
+  factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
+  factory.registerSimpleCondition("CheckLevel", std::bind(checkLevel2, std::placeholders::_1),
+                                  { BT::InputPort("percentage"),
+                                   BT::InputPort("deviceType"),
+                                   BT::OutputPort("isLowBattery")});
+  factory.registerScriptingEnums<DeviceType>();
+
+  auto tree = factory.createTreeFromText(xml_text);
+
+  BT::NodeStatus status;
+  try {
+    int runs = 0;
+    while(runs < 5)
+    {
+      status = tree.tickOnce();
+      tree.sleep(std::chrono::milliseconds(10));
+      runs++;
+    }
+  } catch (BT::LogicError err) {
+    std::cout << err.what() << std::endl;
+  }
+
+  ASSERT_EQ(status, NodeStatus::SUCCESS);
+  ASSERT_EQ(counters[0], 0);
+  ASSERT_EQ(counters[1], 5);
+}
+
+TEST(SkippingLogic, RepeatedNoSkippingReactiveSequence)
+{
+  BehaviorTreeFactory factory;
+  std::array<int, 2> counters;
+  RegisterTestTick(factory, "Test", counters);
+
+  //! setting the battery level = 10
+  const std::string xml_text = R"(
+
+    <root BTCPP_format="4" >
+       <BehaviorTree ID="PowerManagerT">
+          <ReactiveSequence>
+             <Script code=" LOW_BATT:=10 "/>
+             <CheckLevel deviceType="BATT"
+                         percentage="{LOW_BATT}"
+                         isLowBattery="{isLowBattery}"/>
+             <TestA _skipIf="!isLowBattery"/>
+             <TestB/>
+         </ReactiveSequence>
+       </BehaviorTree>
+    </root>)";
+
+  factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
+  factory.registerSimpleCondition("CheckLevel", std::bind(checkLevel2, std::placeholders::_1),
+                                  { BT::InputPort("percentage"),
+                                   BT::InputPort("deviceType"),
+                                   BT::OutputPort("isLowBattery")});
+  factory.registerScriptingEnums<DeviceType>();
+
+  auto tree = factory.createTreeFromText(xml_text);
+
+  BT::NodeStatus status;
+  try {
+    int runs = 0;
+    while(runs < 5)
+    {
+      status = tree.tickOnce();
+      tree.sleep(std::chrono::milliseconds(10));
+      runs++;
+    }
+  } catch (BT::LogicError err) {
+    std::cout << err.what() << std::endl;
+  }
+
+  ASSERT_EQ(status, NodeStatus::SUCCESS);
+  ASSERT_EQ(counters[0], 5);
+  ASSERT_EQ(counters[1], 5);
+}
diff --git a/tests/script_parser_test.cpp b/tests/script_parser_test.cpp
index 967586baf..938163acd 100644
--- a/tests/script_parser_test.cpp
+++ b/tests/script_parser_test.cpp
@@ -5,6 +5,7 @@
 #include "../sample_nodes/dummy_nodes.h"
 
 #include <lexy/input/string_input.hpp>
+#include "test_helper.hpp"
 
 TEST(ParserTest, AnyTypes)
 {