Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP

Author: facontidavide

CMakeLists.txt

@@ -260,7 +260,6 @@ target_include_directories(${BTCPP_LIBRARY}
         ${BTCPP_EXTRA_INCLUDE_DIRS}
     )
 
-target_compile_definitions(${BTCPP_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
 target_compile_definitions(${BTCPP_LIBRARY} PUBLIC BTCPP_LIBRARY_VERSION="${CMAKE_PROJECT_VERSION}")
 
 target_compile_features(${BTCPP_LIBRARY} PUBLIC cxx_std_17)

conanfile.py

@@ -33,6 +33,13 @@ def generate(self):
         tc.cache_variables["USE_VENDORED_MINICORO"] = False
         tc.cache_variables["USE_VENDORED_MINITRACE"] = False
         tc.cache_variables["USE_VENDORED_TINYXML2"] = False
+
+        # Ensure MSVC runtime is correctly propagated
+        if self.settings.os == "Windows":
+            tc.cache_variables["CMAKE_MSVC_RUNTIME_LIBRARY"] = \
+                "MultiThreadedDebugDLL" if self.settings.build_type == "Debug" \
+                else "MultiThreadedDLL"
+
         tc.generate()
 
         deps = CMakeDeps(self)

src/decorators/delay_node.cpp

@@ -12,7 +12,7 @@ DelayNode::DelayNode(const std::string& name, unsigned milliseconds)
 }
 
 DelayNode::DelayNode(const std::string& name, const NodeConfig& config)
-  : DecoratorNode(name, config), timer_id_(0), msec_(0)
+  : DecoratorNode(name, config), timer_id_(0), msec_(0), read_parameter_from_ports_(true)
 {}
 
 void DelayNode::halt()

tests/gtest_decorator.cpp

@@ -220,3 +220,46 @@ TEST(Decorator, RunOnce)
   // counters[1] contains the number of times TestB was ticked
   ASSERT_EQ(counters[1], 5);
 }
+
+// Test for DelayNode with XML: delay_msec port should be honored
+TEST(Decorator, DelayWithXML)
+{
+  BT::BehaviorTreeFactory factory;
+
+  const std::string xml_text = R"(
+    <root BTCPP_format="4" >
+       <BehaviorTree>
+          <Delay delay_msec="100">
+            <AlwaysSuccess/>
+          </Delay>
+       </BehaviorTree>
+    </root>)";
+
+  auto tree = factory.createTreeFromText(xml_text);
+
+  // First tick should return RUNNING (delay not complete)
+  auto start = std::chrono::steady_clock::now();
+  NodeStatus status = tree.tickOnce();
+  ASSERT_EQ(status, NodeStatus::RUNNING);
+
+  // Wait for a short time, still should be RUNNING
+  std::this_thread::sleep_for(std::chrono::milliseconds(50));
+  status = tree.tickOnce();
+  ASSERT_EQ(status, NodeStatus::RUNNING);
+
+  // Poll until the delay completes (with timeout for safety)
+  while(status == NodeStatus::RUNNING)
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    status = tree.tickOnce();
+  }
+  auto end = std::chrono::steady_clock::now();
+  auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(end - start);
+
+  // The child (AlwaysSuccess) should have been executed after the delay
+  ASSERT_EQ(status, NodeStatus::SUCCESS);
+  // Verify that at least ~200ms have passed (with small tolerance for timing jitter)
+  ASSERT_GE(elapsed.count(), 80);
+  // Ensure the test didn't take too long (sanity check)
+  ASSERT_LE(elapsed.count(), 200);
+}