Add tests for HSM
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Serhii Snitsaruk
parent
fb98d2f34e
commit
0e10c2022f
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@ -179,7 +179,7 @@ bool LimboHSM::dispatch(const String &p_event, const Variant &p_cargo) {
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}
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}
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if (!event_consumed && p_event == EVENT_FINISHED && !(get_parent()->is_class("LimboState"))) {
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if (!event_consumed && p_event == EVENT_FINISHED && !(get_parent() && get_parent()->is_class("LimboState"))) {
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_exit();
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}
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@ -24,10 +24,12 @@ public:
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int num_callbacks = 0;
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void callback() { num_callbacks += 1; }
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void callback_delta(double delta) { num_callbacks += 1; }
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protected:
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static void _bind_methods() {
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ClassDB::bind_method(D_METHOD("callback"), &CallbackCounter::callback);
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ClassDB::bind_method(D_METHOD("callback_delta", "delta"), &CallbackCounter::callback_delta);
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}
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};
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@ -0,0 +1,182 @@
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/**
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* test_hsm.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_HSM_H
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#define TEST_HSM_H
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#include "limbo_test.h"
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#include "modules/limboai/hsm/limbo_hsm.h"
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#include "modules/limboai/hsm/limbo_state.h"
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#include "core/object/object.h"
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#include "core/object/ref_counted.h"
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#include "core/os/memory.h"
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#include "core/variant/variant.h"
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namespace TestHSM {
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class TestGuard : public RefCounted {
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GDCLASS(TestGuard, RefCounted);
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public:
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bool permitted_to_enter = false;
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bool can_enter() { return permitted_to_enter; }
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};
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TEST_CASE("[Modules][LimboAI] HSM") {
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Node *agent = memnew(Node);
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LimboHSM *hsm = memnew(LimboHSM);
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Ref<CallbackCounter> alpha_entries = memnew(CallbackCounter);
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Ref<CallbackCounter> alpha_exits = memnew(CallbackCounter);
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Ref<CallbackCounter> alpha_updates = memnew(CallbackCounter);
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Ref<CallbackCounter> beta_entries = memnew(CallbackCounter);
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Ref<CallbackCounter> beta_exits = memnew(CallbackCounter);
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Ref<CallbackCounter> beta_updates = memnew(CallbackCounter);
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LimboState *state_alpha = memnew(LimboState);
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state_alpha->call_on_enter(callable_mp(alpha_entries.ptr(), &CallbackCounter::callback));
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state_alpha->call_on_update(callable_mp(alpha_updates.ptr(), &CallbackCounter::callback_delta));
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state_alpha->call_on_exit(callable_mp(alpha_exits.ptr(), &CallbackCounter::callback));
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LimboState *state_beta = memnew(LimboState);
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state_beta->call_on_enter(callable_mp(beta_entries.ptr(), &CallbackCounter::callback));
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state_beta->call_on_update(callable_mp(beta_updates.ptr(), &CallbackCounter::callback_delta));
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state_beta->call_on_exit(callable_mp(beta_exits.ptr(), &CallbackCounter::callback));
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hsm->add_child(state_alpha);
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hsm->add_child(state_beta);
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hsm->add_transition(state_alpha, state_beta, "event_one");
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hsm->add_transition(state_beta, state_alpha, "event_two");
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hsm->set_initial_state(state_alpha);
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hsm->initialize(agent);
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hsm->set_active(true);
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SUBCASE("Test get_root()") {
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CHECK(state_alpha->get_root() == hsm);
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CHECK(state_beta->get_root() == hsm);
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CHECK(hsm->get_root() == hsm);
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}
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SUBCASE("Test with basic workflow and transitions") {
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REQUIRE(hsm->is_active());
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REQUIRE(hsm->get_active_state() == state_alpha);
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CHECK(alpha_entries->num_callbacks == 1); // * entered
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CHECK(alpha_updates->num_callbacks == 0);
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CHECK(alpha_exits->num_callbacks == 0);
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CHECK(beta_entries->num_callbacks == 0);
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CHECK(beta_updates->num_callbacks == 0);
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CHECK(beta_exits->num_callbacks == 0);
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hsm->update(0.01666);
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CHECK(alpha_entries->num_callbacks == 1);
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CHECK(alpha_updates->num_callbacks == 1); // * updated
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CHECK(alpha_exits->num_callbacks == 0);
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CHECK(beta_entries->num_callbacks == 0);
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CHECK(beta_updates->num_callbacks == 0);
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CHECK(beta_exits->num_callbacks == 0);
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hsm->update(0.01666);
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CHECK(alpha_entries->num_callbacks == 1);
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CHECK(alpha_updates->num_callbacks == 2); // * updated x2
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CHECK(alpha_exits->num_callbacks == 0);
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CHECK(beta_entries->num_callbacks == 0);
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CHECK(beta_updates->num_callbacks == 0);
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CHECK(beta_exits->num_callbacks == 0);
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hsm->dispatch("event_one");
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REQUIRE(hsm->get_active_state() == state_beta);
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CHECK(alpha_entries->num_callbacks == 1);
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CHECK(alpha_updates->num_callbacks == 2);
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CHECK(alpha_exits->num_callbacks == 1); // * (1) exited
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CHECK(beta_entries->num_callbacks == 1); // * (2) entered
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CHECK(beta_updates->num_callbacks == 0);
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CHECK(beta_exits->num_callbacks == 0);
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hsm->update(0.01666);
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CHECK(alpha_entries->num_callbacks == 1);
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CHECK(alpha_updates->num_callbacks == 2);
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CHECK(alpha_exits->num_callbacks == 1);
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CHECK(beta_entries->num_callbacks == 1);
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CHECK(beta_updates->num_callbacks == 1); // * updated
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CHECK(beta_exits->num_callbacks == 0);
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hsm->update(0.01666);
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CHECK(alpha_entries->num_callbacks == 1);
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CHECK(alpha_updates->num_callbacks == 2);
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CHECK(alpha_exits->num_callbacks == 1);
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CHECK(beta_entries->num_callbacks == 1);
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CHECK(beta_updates->num_callbacks == 2); // * updated x2
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CHECK(beta_exits->num_callbacks == 0);
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hsm->dispatch("event_two");
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REQUIRE(hsm->get_active_state() == state_alpha);
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CHECK(alpha_entries->num_callbacks == 2); // * (2) entered
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CHECK(alpha_updates->num_callbacks == 2);
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CHECK(alpha_exits->num_callbacks == 1);
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CHECK(beta_entries->num_callbacks == 1);
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CHECK(beta_updates->num_callbacks == 2);
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CHECK(beta_exits->num_callbacks == 1); // * (1) exited
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hsm->update(0.01666);
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CHECK(alpha_entries->num_callbacks == 2);
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CHECK(alpha_updates->num_callbacks == 3); // * updated
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CHECK(alpha_exits->num_callbacks == 1);
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CHECK(beta_entries->num_callbacks == 1);
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CHECK(beta_updates->num_callbacks == 2);
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CHECK(beta_exits->num_callbacks == 1);
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hsm->dispatch(LimboState::EVENT_FINISHED);
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CHECK(alpha_entries->num_callbacks == 2);
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CHECK(alpha_updates->num_callbacks == 3);
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CHECK(alpha_exits->num_callbacks == 2); // * exited
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CHECK(beta_entries->num_callbacks == 1);
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CHECK(beta_updates->num_callbacks == 2);
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CHECK(beta_exits->num_callbacks == 1);
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CHECK_FALSE(hsm->is_active()); // * not active
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CHECK(hsm->get_active_state() == nullptr);
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}
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SUBCASE("Test transition with guard") {
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Ref<TestGuard> guard = memnew(TestGuard);
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state_beta->set_guard(callable_mp(guard.ptr(), &TestGuard::can_enter));
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SUBCASE("When entry is permitted") {
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guard->permitted_to_enter = true;
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hsm->dispatch("event_one");
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CHECK(hsm->get_active_state() == state_beta);
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CHECK(alpha_exits->num_callbacks == 1);
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CHECK(beta_entries->num_callbacks == 1);
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}
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SUBCASE("When entry is not permitted") {
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guard->permitted_to_enter = false;
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hsm->dispatch("event_one");
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CHECK(hsm->get_active_state() == state_alpha);
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CHECK(alpha_exits->num_callbacks == 0);
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CHECK(beta_entries->num_callbacks == 0);
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}
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}
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SUBCASE("When there is no transition for given event") {
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hsm->dispatch("not_found");
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CHECK(alpha_exits->num_callbacks == 0);
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CHECK(beta_entries->num_callbacks == 0);
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CHECK(hsm->is_active());
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CHECK(hsm->get_active_state() == state_alpha);
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}
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memdelete(agent);
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memdelete(hsm);
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}
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} //namespace TestHSM
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#endif // TEST_HSM_H
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