88 lines
2.7 KiB
C
88 lines
2.7 KiB
C
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/**
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* test_run_limit.h
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* =============================================================================
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* Copyright 2021-2023 Serhii Snitsaruk
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*
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* Use of this source code is governed by an MIT-style
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* license that can be found in the LICENSE file or at
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* https://opensource.org/licenses/MIT.
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* =============================================================================
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*/
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#ifndef TEST_RUN_LIMIT_H
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#define TEST_RUN_LIMIT_H
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#include "limbo_test.h"
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#include "modules/limboai/bt/tasks/bt_task.h"
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#include "modules/limboai/bt/tasks/decorators/bt_run_limit.h"
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namespace TestRunLimit {
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TEST_CASE("[Modules][LimboAI] BTRunLimit") {
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Ref<BTRunLimit> lim = memnew(BTRunLimit);
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SUBCASE("When empty") {
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ERR_PRINT_OFF;
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CHECK(lim->execute(0.01666) == BTTask::FAILURE);
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ERR_PRINT_ON;
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}
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Ref<BTTestAction> task = memnew(BTTestAction);
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lim->add_child(task);
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SUBCASE("With run limit set to 2") {
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lim->set_run_limit(2);
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task->ret_status = BTTask::SUCCESS;
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CHECK(lim->execute(0.01666) == BTTask::SUCCESS);
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 1, 1, 1); // * task executed
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SUBCASE("When the child task succeeds") {
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task->ret_status = BTTask::SUCCESS;
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CHECK(lim->execute(0.01666) == BTTask::SUCCESS);
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 2, 2, 2); // * task executed
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}
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SUBCASE("When the child task fails") {
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task->ret_status = BTTask::FAILURE;
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CHECK(lim->execute(0.01666) == BTTask::FAILURE);
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::FAILURE, 2, 2, 2); // * task executed
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}
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task->ret_status = BTTask::SUCCESS;
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CHECK(lim->execute(0.01666) == BTTask::FAILURE);
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CHECK_ENTRIES_TICKS_EXITS(task, 2, 2, 2); // * task not executed
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CHECK(lim->execute(0.01666) == BTTask::FAILURE);
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CHECK_ENTRIES_TICKS_EXITS(task, 2, 2, 2); // * task not executed
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}
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SUBCASE("When the child task takes more than one tick to finish") {
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lim->set_run_limit(2);
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task->ret_status = BTTask::RUNNING;
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CHECK(lim->execute(0.01666) == BTTask::RUNNING);
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 1, 1, 0);
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task->ret_status = BTTask::SUCCESS;
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CHECK(lim->execute(0.01666) == BTTask::SUCCESS);
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 1, 2, 1);
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task->ret_status = BTTask::RUNNING;
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CHECK(lim->execute(0.01666) == BTTask::RUNNING);
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 2, 3, 1);
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task->ret_status = BTTask::SUCCESS;
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CHECK(lim->execute(0.01666) == BTTask::SUCCESS);
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 2, 4, 2);
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CHECK(lim->execute(0.01666) == BTTask::FAILURE);
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CHECK_ENTRIES_TICKS_EXITS(task, 2, 4, 2);
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}
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}
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} //namespace TestRunLimit
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#endif // TEST_RUN_LIMIT_H
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