add unit test #725

tests/gtest_blackboard.cpp

@@ -18,6 +18,8 @@
 #include "behaviortree_cpp_v3/blackboard.h"
 #include "behaviortree_cpp_v3/xml_parsing.h"
 
+#include "../sample_nodes/dummy_nodes.h"
+
 using namespace BT;
 
 class BB_TestNode : public SyncActionNode
@@ -295,3 +297,28 @@ TEST(BlackboardTest, CheckTypeSafety)
   is = std::is_constructible<BT::StringView, std::string>::value;
   ASSERT_TRUE(is);
 }
+
+TEST(BlackboardTest, SetBlackboard_Issue725)
+{
+  BT::BehaviorTreeFactory factory;
+
+  const std::string xml_text = R"(
+  <root main_tree_to_execute = "MainTree"  >
+    <BehaviorTree ID="MainTree">
+      <Sequence>
+        <SetBlackboard value="hello world" output_key="value" />
+        <SetBlackboard value="{value}" output_key="other_value" />
+        <SaySomething message="{other_value}" />
+      </Sequence>
+    </BehaviorTree>
+  </root> )";
+
+  factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
+  factory.registerBehaviorTreeFromText(xml_text);
+  auto tree = factory.createTree("MainTree");
+  const auto status = tree.tickRoot();
+
+  ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
+  ASSERT_EQ("hello world", tree.rootBlackboard()->get<std::string>("value"));
+  ASSERT_EQ("hello world", tree.rootBlackboard()->get<std::string>("other_value"));
+}