cleanups

examples/t11_replace_rules.cpp

@@ -157,3 +157,34 @@ int main(int argc, char** argv)
 
   return 0;
 }
+
+/* Expecte output:
+
+----- Nodes fullPath() -------
+Sequence::1
+talk
+mysub
+mysub/Sequence::4
+mysub/action_subA
+mysub/action_subB
+set_message
+SaySomething::8
+counting
+SaySomething::10
+SaySomething::11
+SaySomething::12
+
+------ Output (original) ------
+Robot says: hello world
+Robot says: the original message
+Robot says: 1
+Robot says: 2
+Robot says: 3
+
+------ Output (substituted) ------
+DummySaySomething: hello world
+DummyAction substituting node with fullPath(): mysub/action_subA
+DummyAction substituting node with fullPath(): mysub/action_subB
+Robot says: message SUBSTITUTED
+
+*/

include/behaviortree_cpp/actions/test_node.h

@@ -64,21 +64,14 @@ struct TestNodeConfig
 class TestNode : public BT::StatefulActionNode
 {
 public:
-  TestNode(const std::string& name, const NodeConfig& config,
-           TestNodeConfig test_config = {})
-    : StatefulActionNode(name, config), _test_config(std::move(test_config))
-  {
-    setRegistrationID("TestNode");
-  }
+  TestNode(const std::string& name, const NodeConfig& config, TestNodeConfig test_config);
 
   static PortsList providedPorts()
   {
     return {};
   }
 
-  void setConfig(const TestNodeConfig& config);
-
-private:
+protected:
   virtual NodeStatus onStart() override;
 
   virtual NodeStatus onRunning() override;

src/actions/test_node.cpp

@@ -1,12 +1,15 @@
 #include "behaviortree_cpp/actions/test_node.h"
 
-void BT::TestNode::setConfig(const TestNodeConfig& config)
+BT::TestNode::TestNode(const std::string& name, const NodeConfig& config,
+                       TestNodeConfig test_config)
+  : StatefulActionNode(name, config), _test_config(std::move(test_config))
 {
-  if(config.return_status == NodeStatus::IDLE)
+  setRegistrationID("TestNode");
+
+  if(_test_config.return_status == NodeStatus::IDLE)
   {
     throw RuntimeError("TestNode can not return IDLE");
   }
-  _test_config = config;
 
   auto prepareScript = [](const std::string& script, auto& executor) {
     if(!script.empty())
@@ -19,9 +22,9 @@ void BT::TestNode::setConfig(const TestNodeConfig& config)
       executor = result.value();
     }
   };
-  prepareScript(config.success_script, _success_executor);
-  prepareScript(config.failure_script, _failure_executor);
-  prepareScript(config.post_script, _post_executor);
+  prepareScript(_test_config.success_script, _success_executor);
+  prepareScript(_test_config.failure_script, _failure_executor);
+  prepareScript(_test_config.post_script, _post_executor);
 }
 
 BT::NodeStatus BT::TestNode::onStart()

src/bt_factory.cpp

@@ -334,9 +334,7 @@ std::unique_ptr<TreeNode> BehaviorTreeFactory::instantiateTreeNode(
       else if(const auto test_config = std::get_if<TestNodeConfig>(&rule))
       {
         // second case, the varian is a TestNodeConfig
-        auto test_node = new TestNode(name, config);
-        test_node->setConfig(*test_config);
-
+        auto test_node = new TestNode(name, config, *test_config);
         node.reset(test_node);
         substituted = true;
         break;