#include "behaviortree_cpp/bt_factory.h"

using namespace BT;

// clang-format off

static const char* xml_text = R"(

<root BTCPP_format="4" >

<BehaviorTree ID="MainTree">

<ReceiveNodeEnums input_node_status="IDLE" input_node_type="Control" />

</BehaviorTree>

</root>

)";

// clang-format on

class ReceiveNodeEnums : public BT::SyncActionNode

{

public:

ReceiveNodeEnums(const std::string& name, const BT::NodeConfig& config) :

BT::SyncActionNode(name, config)

{

// NodeType another_node_type;

// getInput("input_node_type", another_node_type); Uncomment to trigger Seg fault.

}

BT::NodeStatus tick() override

{

NodeStatus node_status;

NodeType node_type;

getInput("input_node_status", node_status);

getInput("input_node_type", node_type);

std::cout << "Inside tick() with getInput:" << std::endl;

std::cout << node_status << std::endl;

std::cout << node_type << std::endl << std::endl;

return BT::NodeStatus::SUCCESS;

}

static BT::PortsList providedPorts()

{

return {

BT::InputPort<NodeStatus>("input_node_status"),

BT::InputPort<NodeType>("input_node_type"),

};

}

};

int main()

{

BehaviorTreeFactory factory;

factory.registerNodeType<ReceiveNodeEnums>("ReceiveNodeEnums");

auto tree = factory.createTreeFromText(xml_text);

tree.tickWhileRunning();

std::cout << "Without getInput: " << std::endl;

std::cout << convertFromString<NodeStatus>("IDLE") << std::endl;

std::cout << convertFromString<NodeType>("Control") << std::endl << std::endl;

return 0;

}