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Clean up VerifyXML logic #1000

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Clean up VerifyXML logic #1000

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273b00b
Refactor VerifyXML to clarify logic
EzraBrooks Aug 25, 2025
e3fbc56
fix tests that were failing due to bad assumptions
EzraBrooks Aug 27, 2025
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133 changes: 53 additions & 80 deletions src/xml_parsing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -428,119 +428,76 @@ void VerifyXML(const std::string& xml_text,
const std::string ID = node->Attribute("ID") ? node->Attribute("ID") : "";
const int line_number = node->GetLineNum();

if(name == "Decorator")
// Precondition: built-in XML element types must define attribute [ID]
const bool is_builtin =
(name == "Decorator" || name == "Action" || name == "Condition" ||
name == "Control" || name == "SubTree");
if(is_builtin && ID.empty())
{
if(children_count != 1)
{
ThrowError(line_number, "The tag <Decorator> must have exactly 1 "
"child");
}
if(ID.empty())
{
ThrowError(line_number, "The tag <Decorator> must have the "
"attribute [ID]");
}
}
else if(name == "Action")
{
if(children_count != 0)
{
ThrowError(line_number, "The tag <Action> must not have any "
"child");
}
if(ID.empty())
{
ThrowError(line_number, "The tag <Action> must have the "
"attribute [ID]");
}
ThrowError(line_number,
std::string("The tag <") + name + "> must have the attribute [ID]");
}
else if(name == "Condition")

if(name == "BehaviorTree")
{
if(children_count != 0)
{
ThrowError(line_number, "The tag <Condition> must not have any "
"child");
}
if(ID.empty())
if(ID.empty() && behavior_tree_count > 1)
{
ThrowError(line_number, "The tag <Condition> must have the "
"attribute [ID]");
ThrowError(line_number, "The tag <BehaviorTree> must have the attribute [ID]");
}
}
else if(name == "Control")
{
if(children_count == 0)
if(registered_nodes.count(ID) != 0)
{
ThrowError(line_number, "The tag <Control> must have at least 1 "
"child");
ThrowError(line_number, "The attribute [ID] of tag <BehaviorTree> must not use "
"the name of a registered Node");
}
if(ID.empty())
if(children_count != 1)
{
ThrowError(line_number, "The tag <Control> must have the "
"attribute [ID]");
ThrowError(line_number, "The tag <BehaviorTree> with ID '" + ID +
"' must have exactly 1 child");
}
}
else if(name == "SubTree")
{
if(children_count != 0)
{
ThrowError(line_number, "<SubTree> should not have any child");
}
if(ID.empty())
{
ThrowError(line_number, "The tag <SubTree> must have the "
"attribute [ID]");
ThrowError(line_number,
"<SubTree> with ID '" + ID + "' should not have any child");
}
if(registered_nodes.count(ID) != 0)
{
ThrowError(line_number, "The attribute [ID] of tag <SubTree> must "
"not use the name of a registered Node");
}
}
else if(name == "BehaviorTree")
{
if(ID.empty() && behavior_tree_count > 1)
{
ThrowError(line_number, "The tag <BehaviorTree> must have the "
"attribute [ID]");
}
if(children_count != 1)
{
ThrowError(line_number, "The tag <BehaviorTree> must have exactly 1 "
"child");
}
if(registered_nodes.count(ID) != 0)
{
ThrowError(line_number, "The attribute [ID] of tag <BehaviorTree> "
"must not use the name of a registered Node");
ThrowError(line_number, "The attribute [ID] of tag <SubTree> must not use the "
"name of a registered Node");
}
}
else
{
// search in the factory and the list of subtrees
const auto search = registered_nodes.find(name);
// use ID for builtin node types, otherwise use the element name
const auto lookup_name = is_builtin ? ID : name;
const auto search = registered_nodes.find(lookup_name);
bool found = (search != registered_nodes.end());
if(!found)
{
ThrowError(line_number, std::string("Node not recognized: ") + name);
ThrowError(line_number, std::string("Node not recognized: ") + lookup_name);
}

if(search->second == NodeType::DECORATOR)
const auto node_type = search->second;
const std::string& registered_name = search->first;

if(node_type == NodeType::DECORATOR)
{
if(children_count != 1)
{
ThrowError(line_number,
std::string("The node <") + name + "> must have exactly 1 child");
ThrowError(line_number, std::string("The node '") + registered_name +
"' must have exactly 1 child");
}
}
else if(search->second == NodeType::CONTROL)
else if(node_type == NodeType::CONTROL)
{
if(children_count == 0)
{
ThrowError(line_number,
std::string("The node <") + name + "> must have 1 or more children");
ThrowError(line_number, std::string("The node '") + registered_name +
"' must have 1 or more children");
}
if(name == "ReactiveSequence")
if(registered_name == "ReactiveSequence")
{
size_t async_count = 0;
for(auto child = node->FirstChildElement(); child != nullptr;
Expand All @@ -562,13 +519,29 @@ void VerifyXML(const std::string& xml_text,
++async_count;
if(async_count > 1)
{
ThrowError(line_number, std::string("A ReactiveSequence cannot have more "
"than one async child."));
ThrowError(line_number, std::string("A ReactiveSequence cannot have "
"more than one async child."));
}
}
}
}
}
else if(node_type == NodeType::ACTION)
{
if(children_count != 0)
{
ThrowError(line_number, std::string("The node '") + registered_name +
"' must not have any child");
}
}
else if(node_type == NodeType::CONDITION)
{
if(children_count != 0)
{
ThrowError(line_number, std::string("The node '") + registered_name +
"' must not have any child");
}
}
}
//recursion
for(auto child = node->FirstChildElement(); child != nullptr;
Expand Down
5 changes: 2 additions & 3 deletions tests/gtest_factory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ static const char* xml_text_subtree_part1 = R"(
<BehaviorTree ID="MainTree">
<Fallback name="root_selector">
<SubTree ID="DoorClosedSubtree" />
<Action ID="PassThroughWindow" />
<Action ID="PassThroughDoor" />
</Fallback>
</BehaviorTree>
</root> )";
Expand All @@ -93,11 +93,10 @@ static const char* xml_text_subtree_part2 = R"(
<BehaviorTree ID="DoorClosedSubtree">
<Sequence name="door_sequence">
<Decorator ID="Inverter">
<Action ID="IsDoorLocked" />
<Action ID="IsDoorClosed" />
</Decorator>
<Action ID="OpenDoor" />
<Action ID="PassThroughDoor" />
<Action ID="CloseDoor" />
</Sequence>
</BehaviorTree>
</root> )";
Expand Down
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