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Fix ROOT blackboard export in Groot2 publisher #1132

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Fix ROOT blackboard export in Groot2 publisher #1132

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2523229
Fix Groot2 root blackboard dump
magic-alt Apr 16, 2026
9019f2f
Handle ROOT blackboard dump conflicts
magic-alt Apr 17, 2026
7752a97
Format ROOT blackboard conflict check
magic-alt Apr 17, 2026
4476dcd
Format ROOT blackboard conflict check
magic-alt Apr 17, 2026
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14 changes: 13 additions & 1 deletion src/loggers/groot2_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,8 @@ struct Transition

namespace
{
constexpr const char* kRootBlackboardName = "ROOT";

std::array<char, 16> CreateRandomUUID()
{
std::random_device rd;
Expand Down Expand Up @@ -546,6 +548,8 @@ void Groot2Publisher::heartbeatLoop()
std::vector<uint8_t> Groot2Publisher::generateBlackboardsDump(const std::string& bb_list)
{
auto json = nlohmann::json();
const Blackboard* exported_root = nullptr;

auto const bb_names = BT::splitString(bb_list, ';');
for(auto name : bb_names)
{
Expand All @@ -557,7 +561,15 @@ std::vector<uint8_t> Groot2Publisher::generateBlackboardsDump(const std::string&
// lock the weak pointer
if(auto subtree = it->second.lock())
{
json[bb_name] = ExportBlackboardToJSON(*subtree->blackboard);
auto* local_bb = subtree->blackboard.get();
json[bb_name] = ExportBlackboardToJSON(*local_bb);

auto* root_bb = subtree->blackboard->rootBlackboard();
if(root_bb != local_bb && root_bb != exported_root)
{
json[kRootBlackboardName] = ExportBlackboardToJSON(*root_bb);
exported_root = root_bb;
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}
}
}
}
Expand Down
6 changes: 6 additions & 0 deletions tests/CMakeLists.txt
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Expand Up @@ -97,6 +97,12 @@ endif()

target_include_directories(behaviortree_cpp_test PRIVATE include)
target_link_libraries(behaviortree_cpp_test ${BTCPP_LIBRARY} bt_sample_nodes)
if(MSVC)
target_compile_options(behaviortree_cpp_test PRIVATE "/utf-8")
endif()
if(BTCPP_GROOT_INTERFACE)
target_compile_definitions(behaviortree_cpp_test PRIVATE BTCPP_GROOT_INTERFACE)
endif()
target_compile_definitions(behaviortree_cpp_test PRIVATE BT_TEST_FOLDER="${CMAKE_CURRENT_SOURCE_DIR}")

# Ensure plugin is built before tests run, and tests can find it
Expand Down
166 changes: 166 additions & 0 deletions tests/gtest_loggers.cpp
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Expand Up @@ -13,17 +13,45 @@
#include "behaviortree_cpp/bt_factory.h"
#include "behaviortree_cpp/loggers/bt_cout_logger.h"
#include "behaviortree_cpp/loggers/bt_file_logger_v2.h"
#ifdef BTCPP_GROOT_INTERFACE
#include "behaviortree_cpp/loggers/groot2_protocol.h"
#include "behaviortree_cpp/loggers/groot2_publisher.h"
#endif
#include "behaviortree_cpp/loggers/bt_minitrace_logger.h"
#include "behaviortree_cpp/loggers/bt_sqlite_logger.h"

#ifdef BTCPP_GROOT_INTERFACE
#include "zmq_addon.hpp"
#endif

#include <cstdio>
#include <filesystem>
#include <fstream>
#ifdef BTCPP_GROOT_INTERFACE
#include <atomic>
#include <chrono>
#include <stdexcept>
#include <thread>
#endif

#include <gtest/gtest.h>

using namespace BT;

#ifdef BTCPP_GROOT_INTERFACE
using namespace std::chrono_literals;

namespace
{
std::atomic_uint g_next_groot2_port{ 17670 };

unsigned nextGroot2Port()
{
return g_next_groot2_port.fetch_add(2);
}
} // namespace
#endif

class LoggerTest : public testing::Test
{
protected:
Expand Down Expand Up @@ -56,6 +84,68 @@ class LoggerTest : public testing::Test
</root>)";
return factory.createTreeFromText(xml_text);
}

#ifdef BTCPP_GROOT_INTERFACE
BT::Tree createTreeWithNamedSubtrees(
const Blackboard::Ptr& main_blackboard = Blackboard::create())
{
const std::string xml_text = R"(
<root BTCPP_format="4" main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<AlwaysSuccess name="MainAction"/>
<SubTree ID="ChildA" name="ChildA"/>
<SubTree ID="ChildB" name="ChildB"/>
</Sequence>
</BehaviorTree>

<BehaviorTree ID="ChildA">
<AlwaysSuccess name="ChildActionA"/>
</BehaviorTree>

<BehaviorTree ID="ChildB">
<AlwaysSuccess name="ChildActionB"/>
</BehaviorTree>
</root>)";

return factory.createTreeFromText(xml_text, main_blackboard);
}

nlohmann::json requestBlackboardDump(const BT::Tree& tree, unsigned port,
const std::string& bb_list)
{
Groot2Publisher publisher(tree, port);
std::this_thread::sleep_for(50ms);

zmq::context_t context(1);
zmq::socket_t client(context, ZMQ_REQ);
client.set(zmq::sockopt::linger, 0);
client.set(zmq::sockopt::rcvtimeo, 1000);
client.set(zmq::sockopt::sndtimeo, 1000);
client.connect(("tcp://127.0.0.1:" + std::to_string(port)).c_str());

zmq::multipart_t request;
request.addstr(Monitor::SerializeHeader(
Monitor::RequestHeader(Monitor::RequestType::BLACKBOARD)));
request.addstr(bb_list);
if(!request.send(client))
{
throw std::runtime_error("Failed to send Groot2 blackboard request");
}

zmq::multipart_t reply;
if(!reply.recv(client))
{
throw std::runtime_error("Failed to receive Groot2 blackboard reply");
}
if(reply.size() != 2u)
{
throw std::runtime_error("Unexpected Groot2 blackboard reply size");
}

return nlohmann::json::from_msgpack(reply[1].to_string());
}
#endif
};

// ============ StdCoutLogger tests ============
Expand Down Expand Up @@ -494,3 +584,79 @@ TEST_F(LoggerTest, Logger_DisabledDuringExecution)

ASSERT_TRUE(std::filesystem::exists(filepath));
}

#ifdef BTCPP_GROOT_INTERFACE
TEST_F(LoggerTest, Groot2Publisher_DoesNotExportRootWithoutExternalBlackboard)
{
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<AlwaysSuccess/>
</BehaviorTree>
</root>)";

auto main_blackboard = Blackboard::create();
main_blackboard->set("local_value", 7);

factory.registerBehaviorTreeFromText(xml_text);
auto tree = factory.createTree("MainTree", main_blackboard);

auto json = requestBlackboardDump(tree, nextGroot2Port(), "MainTree");
ASSERT_TRUE(json.contains("MainTree"));
EXPECT_FALSE(json.contains("ROOT"));

ASSERT_TRUE(json["MainTree"].contains("local_value"));
EXPECT_EQ(json["MainTree"]["local_value"].get<int>(), 7);
}

TEST_F(LoggerTest, Groot2Publisher_ExportsExternalRootBlackboard)
{
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<AlwaysSuccess/>
</BehaviorTree>
</root>)";

auto external_root = Blackboard::create();
external_root->set("shared_value", 42);

auto main_blackboard = Blackboard::create(external_root);
main_blackboard->set("local_value", 7);

factory.registerBehaviorTreeFromText(xml_text);
auto tree = factory.createTree("MainTree", main_blackboard);

auto json = requestBlackboardDump(tree, nextGroot2Port(), "MainTree");
ASSERT_TRUE(json.contains("MainTree"));
ASSERT_TRUE(json.contains("ROOT"));

ASSERT_TRUE(json["MainTree"].contains("local_value"));
EXPECT_EQ(json["MainTree"]["local_value"].get<int>(), 7);
EXPECT_FALSE(json["MainTree"].contains("shared_value"));

ASSERT_TRUE(json["ROOT"].contains("shared_value"));
EXPECT_EQ(json["ROOT"]["shared_value"].get<int>(), 42);
EXPECT_FALSE(json["ROOT"].contains("local_value"));
}

TEST_F(LoggerTest, Groot2Publisher_DeduplicatesSharedExternalRootBlackboard)
{
auto external_root = Blackboard::create();
external_root->set("shared_value", 99);

auto main_blackboard = Blackboard::create(external_root);
auto tree = createTreeWithNamedSubtrees(main_blackboard);
ASSERT_EQ(tree.subtrees.size(), 3u);

auto json = requestBlackboardDump(tree, nextGroot2Port(), "MainTree;ChildA;ChildB");
ASSERT_TRUE(json.contains("MainTree"));
ASSERT_TRUE(json.contains("ChildA"));
ASSERT_TRUE(json.contains("ChildB"));
ASSERT_TRUE(json.contains("ROOT"));
EXPECT_EQ(json.size(), 4u);

ASSERT_TRUE(json["ROOT"].contains("shared_value"));
EXPECT_EQ(json["ROOT"]["shared_value"].get<int>(), 99);
}
#endif
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