more hanges related to TestNode

Author: facontidavide

examples/t15_nodes_mocking.cpp

@@ -97,7 +97,7 @@ int main(int argc, char** argv)
 
   // this will be synchronous (async_delay is 0)
   BT::TestNodeConfig counting_config;
-  test_config.return_status = BT::NodeStatus::SUCCESS;
+  counting_config.return_status = BT::NodeStatus::SUCCESS;
 
   //---------------------------------------------------------------
   // Next, we want to substitute one or more of out Nodes with this mocks

include/behaviortree_cpp/actions/test_node.h

@@ -55,11 +55,11 @@ struct TestNodeConfig
  * This particular node is created by the factory when TestNodeConfig is
  * added as a substitution rule:
  *
- *    TestNodeConfig test_config;
+ *    auto test_config = std::make_shared<TestNodeConfig>();
  *    // change fields of test_config
  *    factory.addSubstitutionRule(pattern, test_config);
  *
- * See tutorial 11 for more details.
+ * See tutorial 15 for more details.
  */
 class TestNode : public BT::StatefulActionNode
 {

include/behaviortree_cpp/bt_factory.h

@@ -469,7 +469,8 @@ class BehaviorTreeFactory
 
   void clearSubstitutionRules();
 
-  using SubstitutionRule = std::variant<std::string, TestNodeConfig>;
+  using SubstitutionRule =
+      std::variant<std::string, TestNodeConfig, std::shared_ptr<TestNodeConfig>>;
 
   /**
    * @brief addSubstitutionRule replace a node with another one when the tree is

src/bt_factory.cpp

@@ -263,13 +263,22 @@ std::unique_ptr<TreeNode> BehaviorTreeFactory::instantiateTreeNode(
       }
       else if(const auto test_config = std::get_if<TestNodeConfig>(&rule))
       {
-        // second case, the variant is a TestNodeConfig
-        auto test_node =
-            new TestNode(name, config, std::make_shared<TestNodeConfig>(*test_config));
-        node.reset(test_node);
+        node = std::make_unique<TestNode>(name, config,
+                                          std::make_shared<TestNodeConfig>(*test_config));
         substituted = true;
         break;
       }
+      else if(const auto test_config =
+                  std::get_if<std::shared_ptr<TestNodeConfig>>(&rule))
+      {
+        node = std::make_unique<TestNode>(name, config, *test_config);
+        substituted = true;
+        break;
+      }
+      else
+      {
+        throw LogicError("Substitution rule is not a string or a TestNodeConfig");
+      }
     }
   }