limboai/tests/test_run_limit.h

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/**
* test_run_limit.h
* =============================================================================
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* Copyright 2021-2024 Serhii Snitsaruk
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*
* Use of this source code is governed by an MIT-style
* license that can be found in the LICENSE file or at
* https://opensource.org/licenses/MIT.
* =============================================================================
*/
#ifndef TEST_RUN_LIMIT_H
#define TEST_RUN_LIMIT_H
#include "limbo_test.h"
#include "modules/limboai/bt/tasks/bt_task.h"
#include "modules/limboai/bt/tasks/decorators/bt_run_limit.h"
namespace TestRunLimit {
TEST_CASE("[Modules][LimboAI] BTRunLimit") {
Ref<BTRunLimit> lim = memnew(BTRunLimit);
SUBCASE("When empty") {
ERR_PRINT_OFF;
CHECK(lim->execute(0.01666) == BTTask::FAILURE);
ERR_PRINT_ON;
}
Ref<BTTestAction> task = memnew(BTTestAction);
lim->add_child(task);
SUBCASE("With run limit set to 2") {
lim->set_run_limit(2);
task->ret_status = BTTask::SUCCESS;
CHECK(lim->execute(0.01666) == BTTask::SUCCESS);
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 1, 1, 1); // * task executed
SUBCASE("When the child task succeeds") {
task->ret_status = BTTask::SUCCESS;
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lim->set_count_policy(BTRunLimit::COUNT_FAILED);
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CHECK(lim->execute(0.01666) == BTTask::SUCCESS);
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 2, 2, 2); // * task executed
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lim->set_count_policy(BTRunLimit::COUNT_SUCCESSFUL);
CHECK(lim->execute(0.01666) == BTTask::SUCCESS);
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 3, 3, 3); // * task executed
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}
SUBCASE("When the child task fails") {
task->ret_status = BTTask::FAILURE;
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lim->set_count_policy(BTRunLimit::COUNT_SUCCESSFUL);
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CHECK(lim->execute(0.01666) == BTTask::FAILURE);
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::FAILURE, 2, 2, 2); // * task executed
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lim->set_count_policy(BTRunLimit::COUNT_FAILED);
CHECK(lim->execute(0.01666) == BTTask::FAILURE);
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::FAILURE, 3, 3, 3); // * task executed
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}
task->ret_status = BTTask::SUCCESS;
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lim->set_count_policy(BTRunLimit::COUNT_SUCCESSFUL);
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CHECK(lim->execute(0.01666) == BTTask::FAILURE);
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CHECK_ENTRIES_TICKS_EXITS(task, 3, 3, 3); // * task not executed
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CHECK(lim->execute(0.01666) == BTTask::FAILURE);
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CHECK_ENTRIES_TICKS_EXITS(task, 3, 3, 3); // * task not executed
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}
SUBCASE("When the child task takes more than one tick to finish") {
lim->set_run_limit(2);
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lim->set_count_policy(BTRunLimit::COUNT_ALL);
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task->ret_status = BTTask::RUNNING;
CHECK(lim->execute(0.01666) == BTTask::RUNNING);
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 1, 1, 0);
task->ret_status = BTTask::SUCCESS;
CHECK(lim->execute(0.01666) == BTTask::SUCCESS);
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 1, 2, 1);
task->ret_status = BTTask::RUNNING;
CHECK(lim->execute(0.01666) == BTTask::RUNNING);
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 2, 3, 1);
task->ret_status = BTTask::SUCCESS;
CHECK(lim->execute(0.01666) == BTTask::SUCCESS);
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 2, 4, 2);
CHECK(lim->execute(0.01666) == BTTask::FAILURE);
CHECK_ENTRIES_TICKS_EXITS(task, 2, 4, 2);
}
}
} //namespace TestRunLimit
#endif // TEST_RUN_LIMIT_H