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Fix logical NOT for string-backed boolean values #1191

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Fix logical NOT for string-backed boolean values #1191

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12 changes: 12 additions & 0 deletions include/behaviortree_cpp/scripting/operators.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,6 +141,18 @@ struct ExprUnaryArithmetic : ExprBase
}
else if(rhs_v.isString())
{
if(op == logical_not)
{
const auto str = rhs_v.cast<std::string>();
if(str == "true" || str == "True" || str == "TRUE" || str == "1")
{
return Any(0.0);
}
if(str == "false" || str == "False" || str == "FALSE" || str == "0")
{
return Any(1.0);
}
}
throw RuntimeError("Invalid operator for std::string");
}
throw RuntimeError("ExprUnaryArithmetic: undefined");
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78 changes: 78 additions & 0 deletions tests/gtest_subtree.cpp
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Expand Up @@ -1012,3 +1012,81 @@ TEST(SubTree, LiteralNumericPortsPreserveType)
const auto status = tree.tickWhileRunning();
ASSERT_EQ(status, NodeStatus::SUCCESS);
}

// Regression test: logical NOT should accept literal boolean values passed to
// subtrees without changing their string representation in the blackboard.
TEST(SubTree, LiteralBooleanPortsSupportLogicalNot)
{
// clang-format off
static const char* xml_text = R"(
<root BTCPP_format="4" main_tree_to_execute="MainTree">

<BehaviorTree ID="MainTree">
<SubTree ID="CheckBooleans" enabled="true" disabled="false"
enabled_upper="TRUE" disabled_title="False"
enabled_numeric="{enabled_numeric}"
disabled_numeric="{disabled_numeric}" />
</BehaviorTree>

<BehaviorTree ID="CheckBooleans">
<Sequence>
<AlwaysSuccess _skipIf="!enabled" />
<ScriptCondition code="!disabled" />
<ScriptCondition code="!!enabled_upper" />
<ScriptCondition code="!disabled_title" />
<ScriptCondition code="!!enabled_numeric" />
<ScriptCondition code="!disabled_numeric" />
</Sequence>
</BehaviorTree>

<TreeNodesModel>
<SubTree ID="CheckBooleans">
<input_port name="enabled" type="bool" />
<input_port name="disabled" type="bool" />
<input_port name="enabled_upper" type="bool" />
<input_port name="disabled_title" type="bool" />
<input_port name="enabled_numeric" type="bool" />
<input_port name="disabled_numeric" type="bool" />
</SubTree>
</TreeNodesModel>

</root>
)";
// clang-format on

BehaviorTreeFactory factory;
auto tree = factory.createTreeFromText(xml_text);
tree.rootBlackboard()->set("enabled_numeric", std::string("1"));
tree.rootBlackboard()->set("disabled_numeric", std::string("0"));

ASSERT_EQ(tree.tickWhileRunning(), NodeStatus::SUCCESS);
ASSERT_EQ(tree.subtrees[1]->blackboard->get<std::string>("enabled"), "true");
ASSERT_EQ(tree.subtrees[1]->blackboard->get<std::string>("disabled"), "false");
ASSERT_EQ(tree.subtrees[1]->blackboard->get<std::string>("enabled_upper"), "TRUE");
ASSERT_EQ(tree.subtrees[1]->blackboard->get<std::string>("disabled_title"), "False");
}

TEST(SubTree, LiteralNonBooleanPortsRejectLogicalNot)
{
// clang-format off
static const char* xml_text = R"(
<root BTCPP_format="4" main_tree_to_execute="MainTree">

<BehaviorTree ID="MainTree">
<SubTree ID="CheckValue" value="1not_bool" />
</BehaviorTree>

<BehaviorTree ID="CheckValue">
<ScriptCondition code="!value" />
</BehaviorTree>

</root>
)";
// clang-format on

BehaviorTreeFactory factory;
auto tree = factory.createTreeFromText(xml_text);

ASSERT_THROW((void)tree.tickWhileRunning(), RuntimeError);
ASSERT_EQ(tree.subtrees[1]->blackboard->get<std::string>("value"), "1not_bool");
}
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