limboai/tests/test_sequence.h

/**
 * test_sequence.h
 * =============================================================================
 * Copyright 2021-2023 Serhii Snitsaruk
 *
 * 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_SEQUENCE_H
#define TEST_SEQUENCE_H

#include "limbo_test.h"

#include "modules/limboai/bt/tasks/bt_task.h"
#include "modules/limboai/bt/tasks/composites/bt_sequence.h"

namespace TestSequence {

TEST_CASE("[Modules][LimboAI] BTSequence when all return SUCCESS") {
	Ref<BTSequence> seq = memnew(BTSequence);
	Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::SUCCESS));
	Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::SUCCESS));
	Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::SUCCESS));

	seq->add_child(task1);
	seq->add_child(task2);
	seq->add_child(task3);

	REQUIRE(seq->get_child_count() == 3);

	// * First execution.
	CHECK(seq->execute(0.01666) == BTTask::SUCCESS);

	CHECK(task1->get_status() == BTTask::SUCCESS);
	CHECK(task2->get_status() == BTTask::SUCCESS);
	CHECK(task3->get_status() == BTTask::SUCCESS);

	CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
	CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1);
	CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1);

	// * Second execution.
	CHECK(seq->execute(0.01666) == BTTask::SUCCESS);

	CHECK(task1->get_status() == BTTask::SUCCESS);
	CHECK(task2->get_status() == BTTask::SUCCESS);
	CHECK(task3->get_status() == BTTask::SUCCESS);

	CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2);
	CHECK_ENTRIES_TICKS_EXITS(task2, 2, 2, 2);
	CHECK_ENTRIES_TICKS_EXITS(task3, 2, 2, 2);
}

TEST_CASE("[Modules][LimboAI] BTSequence when second returns FAILURE") {
	Ref<BTSequence> seq = memnew(BTSequence);
	Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::SUCCESS));
	Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::FAILURE));
	Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::SUCCESS));

	seq->add_child(task1);
	seq->add_child(task2);
	seq->add_child(task3);

	REQUIRE(seq->get_child_count() == 3);

	// * First execution.
	CHECK(seq->execute(0.01666) == BTTask::FAILURE);

	CHECK(task1->get_status() == BTTask::SUCCESS);
	CHECK(task2->get_status() == BTTask::FAILURE);
	CHECK(task3->get_status() == BTTask::FRESH);

	CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
	CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1);
	CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);

	// * Second execution.
	CHECK(seq->execute(0.01666) == BTTask::FAILURE);

	CHECK(task1->get_status() == BTTask::SUCCESS);
	CHECK(task2->get_status() == BTTask::FAILURE);
	CHECK(task3->get_status() == BTTask::FRESH);

	CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2);
	CHECK_ENTRIES_TICKS_EXITS(task2, 2, 2, 2);
	CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);
}

TEST_CASE("[Modules][LimboAI] BTSequence when second returns RUNNING") {
	Ref<BTSequence> seq = memnew(BTSequence);
	Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::SUCCESS));
	Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::RUNNING));
	Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::SUCCESS));

	seq->add_child(task1);
	seq->add_child(task2);
	seq->add_child(task3);

	REQUIRE(seq->get_child_count() == 3);

	// * First execution.
	CHECK(seq->execute(0.01666) == BTTask::RUNNING);

	CHECK(task1->get_status() == BTTask::SUCCESS);
	CHECK(task2->get_status() == BTTask::RUNNING);
	CHECK(task3->get_status() == BTTask::FRESH);

	CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
	CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 0);
	CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);

	// * Second execution.
	CHECK(seq->execute(0.01666) == BTTask::RUNNING);

	CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
	CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 0);
	CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);

	// * Third execution with second task returning SUCCESS.
	task2->ret_status = BTTask::SUCCESS;
	CHECK(seq->execute(0.01666) == BTTask::SUCCESS);

	CHECK(task1->get_status() == BTTask::SUCCESS);
	CHECK(task2->get_status() == BTTask::SUCCESS);
	CHECK(task3->get_status() == BTTask::SUCCESS);

	CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
	CHECK_ENTRIES_TICKS_EXITS(task2, 1, 3, 1);
	CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1);
}

TEST_CASE("[Modules][LimboAI] BTSequence with no child tasks") {
	Ref<BTSequence> seq = memnew(BTSequence);

	REQUIRE(seq->get_child_count() == 0);
	CHECK(seq->execute(0.01666) == BTTask::SUCCESS);
}

} //namespace TestSequence

#endif // TEST_SEQUENCE_H