fix: Handle special characters in child names

[erichlf]

This PR aims to fix issues where special characters exist in a behavior name that is referenced by SuccessOnSelected.

Fixes #18

Motivation and Context

The list of children in SuccessOnSelected to select is expected to be a list of python variables, thus they cannot have special characters. To deal with this limitation, we replace the special character with an underscore, i.e. _.

Changes

• Handle special characters in SuccessOnSelected children.

Type of changes

• New feature

Checklist

• Update dependencies
• Update version
• Update README

Testing

1. colcon build --packages-up-to py_trees_parser
2. colcon test --event-handlers console_cohesion+ --packages-select py_trees_parser

Summary by CodeRabbit

• Bug Fixes

  • SuccessOnSelected policy now correctly recognizes selected children whose names include special or non-ASCII characters.

• Tests

  • Added test coverage and sample XML validating special-character node names in SuccessOnSelected and Parallel policies.

• Chores

  • Bumped package version to 0.7.1, updated changelog, and added a test-time dependency for the test suite.

• Documentation

  • Clarified using underscores to represent special or reserved characters in XML child names.

[coderabbitai]

Caution

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✨ Finishing Touches

🧪 Generate unit tests

• Create PR with unit tests
• Post copyable unit tests in a comment
• Commit unit tests in branch erich/fix_space_in_behavior_name_selector

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[coderabbitai]

Actionable comments posted: 2

🧹 Nitpick comments (3)

py_trees_parser/parser.py (2)

505-510: Sanitization: switch to regex and precompute set for clarity and speed.

Regex keeps intent clear, preserves underscores, and set lookup avoids repeated list scans.

Apply within this hunk:

-            selection = [
-                child
-                for child in children
-                if "".join(map(lambda char: char if char.isalnum() else "_", child.name))
-                in on_selected
-            ]
+            on_selected_set = set(on_selected)
+            selection = [
+                child
+                for child in children
+                if re.sub(r"\W", "_", child.name) in on_selected_set
+            ]

Also add once near the other imports:

import re

Optional: warn on collisions/unmatched selections (two children mapping to same sanitized key or keys not found).

---

165-201: Avoid UnboundLocalError when 'children' arg is missing/malformed.

children_arg may be referenced before assignment if SuccessOnSelected lacks a children list; initialize and fail gracefully.

Minimal patch:

     on_selected = None
     synchronise = None
+    children_arg = None

Optionally, after computing on_selected, validate all requested names were matched and log/warn about any unmatched entries.

test/data/test_on_selected.xml (1)

1-13: Good fixture; consider adding a collision case.

Add a second child whose sanitized name collides (e.g., "¢@mera-va!ue,_check?") and assert both are selected to document current semantics or to enforce a uniqueness check.

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📥 Commits

Reviewing files that changed from the base of the PR and between b23510f and 2136b86.

📒 Files selected for processing (4)

• package.xml (1 hunks)
• py_trees_parser/parser.py (1 hunks)
• test/data/test_on_selected.xml (1 hunks)
• test/test_parser.py (1 hunks)

🧰 Additional context used

🪛 GitHub Actions: .github/workflows/testing.yml

test/test_parser.py

[error] 227-227: D103 Missing docstring in public function 'test_SuccessOnSelected_speacial_chars_in_name'.

[erichlf]

One major issue with this approach is that names are not unique, e.g. special! and special? have the same translation, i.e. special_.