Add a unit test

BehaviorTree · Nov 29, 2024 · 3d3f1c7 · 3d3f1c7
1 parent ff14d91
commit 3d3f1c7
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diff --git a/tests/gtest_factory.cpp b/tests/gtest_factory.cpp
@@ -389,6 +389,14 @@ TEST(BehaviorTreeReload, ReloadSameTree)
   }
 }
 
+TEST(BehaviorTreeFactory, TwoAsyncNodesInReactiveSequence)
+{
+  BehaviorTreeFactory factory;
+
+  std::string path = FilePath("trees/two_async_nodes_in_reactive_seq.xml");
+  EXPECT_ANY_THROW(auto tree = factory.createTreeFromFile(path));
+}
+
 KeyValueVector makeTestMetadata()
 {
   return {

diff --git a/tests/trees/two_async_nodes_in_reactive_seq.xml b/tests/trees/two_async_nodes_in_reactive_seq.xml
@@ -0,0 +1,8 @@
+<root BTCPP_format="4" main_tree_to_execute = "ParentNoInclude">
+  <BehaviorTree ID="TwoAsyncNodesInReactiveSeq">
+    <ReactiveSequence>
+      <StatefulActionNode name="Async1"/>
+      <StatefulActionNode name="Async2"/>
+    </ReactiveSequence>
+  </BehaviorTree>
+</root>