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Fix Reactive Sequence async control node validation #1183

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Fix Reactive Sequence async control node validation #1183

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1fc3574
Fix ReactiveSequence validation of async CONTROL nodes
vivoeiva Aug 3, 2026
617ad67
More tests for ReactiveSequence with Async nodes
vivoeiva Aug 3, 2026
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7 changes: 4 additions & 3 deletions src/xml_parsing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -666,10 +666,11 @@ void VerifyXML(const std::string& xml_text,
std::string("Unknown node type: ") + child_name);
}
const auto child_type = child_search->second;
// Only the asynchronous CONTROL nodes can be detected here: the
// manifest does not record whether an ACTION is asynchronous, so
// async leaf actions are not caught.
if(child_type == NodeType::CONTROL &&
((child_name == "ThreadedAction") ||
(child_name == "StatefulActionNode") ||
(child_name == "CoroActionNode") || (child_name == "AsyncSequence")))
((child_name == "AsyncSequence") || (child_name == "AsyncFallback")))
{
++async_count;
if(async_count > 1)
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96 changes: 96 additions & 0 deletions tests/gtest_reactive.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -187,6 +187,102 @@ TEST(Reactive, TwoAsyncNodesInReactiveSequence)
EXPECT_ANY_THROW(auto tree = factory.createTreeFromText(reactive_xml_text));
}

TEST(Reactive, TwoAsyncFallbacksInReactiveSequence)
{
static const char* reactive_xml_text = R"(
<root BTCPP_format="4" >
<BehaviorTree ID="MainTree">
<ReactiveSequence>
<AsyncFallback name="first">
<TestA/>
<TestB/>
<TestC/>
</AsyncFallback>
<AsyncFallback name="second">
<TestD/>
<TestE/>
<TestF/>
</AsyncFallback>
</ReactiveSequence>
</BehaviorTree>
</root>
)";

BT::BehaviorTreeFactory factory;
std::array<int, 6> counters{};
RegisterTestTick(factory, "Test", counters);

EXPECT_ANY_THROW(auto tree = factory.createTreeFromText(reactive_xml_text));
}

TEST(Reactive, AsyncSequenceAndAsyncFallbackInReactiveSequence)
{
static const char* reactive_xml_text = R"(
<root BTCPP_format="4" >
<BehaviorTree ID="MainTree">
<ReactiveSequence>
<AsyncSequence name="first">
<TestA/>
<TestB/>
</AsyncSequence>
<AsyncFallback name="second">
<TestC/>
<TestD/>
</AsyncFallback>
</ReactiveSequence>
</BehaviorTree>
</root>
)";

BT::BehaviorTreeFactory factory;
std::array<int, 6> counters{};
RegisterTestTick(factory, "Test", counters);

EXPECT_ANY_THROW(auto tree = factory.createTreeFromText(reactive_xml_text));
}

// DISABLED: fails, not yet fixed.
TEST(Reactive, DISABLED_TwoAsyncActionsInReactiveSequence)
{
static const char* reactive_xml_text = R"(
<root BTCPP_format="4" >
<BehaviorTree ID="MainTree">
<ReactiveSequence>
<Sleep msec="100" name="first"/>
<Sleep msec="200" name="second"/>
</ReactiveSequence>
</BehaviorTree>
</root>
)";

BT::BehaviorTreeFactory factory;

EXPECT_ANY_THROW(auto tree = factory.createTreeFromText(reactive_xml_text));
}

TEST(Reactive, SingleAsyncChildInReactiveSequenceIsAllowed)
{
static const char* reactive_xml_text = R"(
<root BTCPP_format="4" >
<BehaviorTree ID="MainTree">
<ReactiveSequence>
<TestA/>
<AsyncFallback name="only_async">
<TestB/>
<TestC/>
</AsyncFallback>
</ReactiveSequence>
</BehaviorTree>
</root>
)";

BT::BehaviorTreeFactory factory;
std::array<int, 6> counters{};
RegisterTestTick(factory, "Test", counters);

EXPECT_NO_THROW(auto tree = factory.createTreeFromText(reactive_xml_text));
}

// ============ Phase 4: Additional Reactive Tests ============

TEST(Reactive, ReactiveSequence_FirstChildFails)
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