Testing: Add tests for BTSequence
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Serhii Snitsaruk
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a625173786
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108526ec07
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/**
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* bt_test_action.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 BT_TEST_ACTION_H
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#define BT_TEST_ACTION_H
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#include "modules/limboai/bt/tasks/bt_action.h"
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class BTTestAction : public BTAction {
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GDCLASS(BTTestAction, BTAction);
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private:
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int ret_status = BTTask::SUCCESS;
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public:
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int num_entries = 0;
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int num_ticks = 0;
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int num_exits = 0;
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protected:
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virtual void _enter() override { num_entries += 1; }
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virtual void _exit() override { num_exits += 1; }
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virtual int _tick(double p_delta) override {
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num_ticks += 1;
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return ret_status;
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}
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public:
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BTTestAction(int p_return_status) { ret_status = p_return_status; }
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};
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#endif // BT_TEST_ACTION_H
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/**
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* test_sequence.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_SEQUENCE_H
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#define TEST_SEQUENCE_H
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#include "tests/test_macros.h"
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#include "modules/limboai/bt/tasks/bt_task.h"
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#include "modules/limboai/bt/tasks/composites/bt_sequence.h"
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#include "modules/limboai/tests/tasks/bt_test_action.h"
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namespace TestSequence {
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TEST_CASE("[Modules][LimboAI] BTSequence when all return SUCCESS") {
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Ref<BTSequence> seq = memnew(BTSequence);
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Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::SUCCESS));
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Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::SUCCESS));
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Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::SUCCESS));
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seq->add_child(task1);
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seq->add_child(task2);
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seq->add_child(task3);
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REQUIRE(seq->get_child_count() == 3);
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// * First execution.
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CHECK(seq->execute(0.1666) == BTTask::SUCCESS);
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CHECK(task1->get_status() == BTTask::SUCCESS);
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CHECK(task2->get_status() == BTTask::SUCCESS);
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CHECK(task3->get_status() == BTTask::SUCCESS);
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CHECK(task1->num_entries == 1);
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CHECK(task1->num_ticks == 1);
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CHECK(task1->num_exits == 1);
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CHECK(task2->num_entries == 1);
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CHECK(task2->num_ticks == 1);
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CHECK(task2->num_exits == 1);
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CHECK(task3->num_entries == 1);
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CHECK(task3->num_ticks == 1);
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CHECK(task3->num_exits == 1);
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// * Second execution.
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CHECK(seq->execute(0.1666) == BTTask::SUCCESS);
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CHECK(task1->get_status() == BTTask::SUCCESS);
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CHECK(task2->get_status() == BTTask::SUCCESS);
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CHECK(task3->get_status() == BTTask::SUCCESS);
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CHECK(task1->num_entries == 2);
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CHECK(task1->num_ticks == 2);
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CHECK(task1->num_exits == 2);
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CHECK(task2->num_entries == 2);
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CHECK(task2->num_ticks == 2);
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CHECK(task2->num_exits == 2);
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CHECK(task3->num_entries == 2);
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CHECK(task3->num_ticks == 2);
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CHECK(task3->num_exits == 2);
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}
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TEST_CASE("[Modules][LimboAI] BTSequence when second returns FAILURE") {
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Ref<BTSequence> seq = memnew(BTSequence);
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Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::SUCCESS));
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Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::FAILURE));
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Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::SUCCESS));
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seq->add_child(task1);
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seq->add_child(task2);
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seq->add_child(task3);
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REQUIRE(seq->get_child_count() == 3);
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// * First execution.
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CHECK(seq->execute(0.1666) == BTTask::FAILURE);
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CHECK(task1->get_status() == BTTask::SUCCESS);
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CHECK(task2->get_status() == BTTask::FAILURE);
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CHECK(task3->get_status() == BTTask::FRESH);
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CHECK(task1->num_entries == 1);
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CHECK(task1->num_ticks == 1);
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CHECK(task1->num_exits == 1);
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CHECK(task2->num_entries == 1);
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CHECK(task2->num_ticks == 1);
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CHECK(task2->num_exits == 1);
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CHECK(task3->num_entries == 0);
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CHECK(task3->num_ticks == 0);
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CHECK(task3->num_exits == 0);
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// * Second execution.
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CHECK(seq->execute(0.1666) == BTTask::FAILURE);
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CHECK(task1->get_status() == BTTask::SUCCESS);
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CHECK(task2->get_status() == BTTask::FAILURE);
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CHECK(task3->get_status() == BTTask::FRESH);
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CHECK(task1->num_entries == 2);
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CHECK(task1->num_ticks == 2);
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CHECK(task1->num_exits == 2);
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CHECK(task2->num_entries == 2);
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CHECK(task2->num_ticks == 2);
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CHECK(task2->num_exits == 2);
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CHECK(task3->num_entries == 0);
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CHECK(task3->num_ticks == 0);
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CHECK(task3->num_exits == 0);
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}
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TEST_CASE("[Modules][LimboAI] BTSequence when second returns RUNNING") {
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Ref<BTSequence> seq = memnew(BTSequence);
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Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::SUCCESS));
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Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::RUNNING));
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Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::SUCCESS));
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seq->add_child(task1);
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seq->add_child(task2);
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seq->add_child(task3);
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REQUIRE(seq->get_child_count() == 3);
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// * First execution.
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CHECK(seq->execute(0.1666) == BTTask::RUNNING);
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CHECK(task1->get_status() == BTTask::SUCCESS);
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CHECK(task2->get_status() == BTTask::RUNNING);
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CHECK(task3->get_status() == BTTask::FRESH);
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CHECK(task1->num_entries == 1);
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CHECK(task1->num_exits == 1);
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CHECK(task1->num_ticks == 1);
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CHECK(task2->num_entries == 1);
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CHECK(task2->num_ticks == 1);
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CHECK(task2->num_exits == 0);
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CHECK(task3->num_entries == 0);
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CHECK(task3->num_ticks == 0);
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CHECK(task3->num_exits == 0);
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// * Second execution.
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CHECK(seq->execute(0.1666) == BTTask::RUNNING);
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CHECK(task1->num_entries == 1);
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CHECK(task1->num_exits == 1);
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CHECK(task1->num_ticks == 1);
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CHECK(task2->num_entries == 1);
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CHECK(task2->num_ticks == 2);
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CHECK(task2->num_exits == 0);
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CHECK(task3->num_entries == 0);
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CHECK(task3->num_ticks == 0);
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CHECK(task3->num_exits == 0);
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}
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TEST_CASE("[Modules][LimboAI] BTSequence with no child tasks") {
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Ref<BTSequence> seq = memnew(BTSequence);
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REQUIRE(seq->get_child_count() == 0);
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CHECK(seq->execute(0.1666) == BTTask::SUCCESS);
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}
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} //namespace TestSequence
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#endif // TEST_SEQUENCE_H
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