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Add test for BTRandomSelector

This commit is contained in:
Serhii Snitsaruk 2023-08-30 12:20:35 +02:00
parent f7159123c6
commit 369aead56a
1 changed files with 110 additions and 0 deletions
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tests/test_random_selector.h Normal file
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/**
* test_random_selector.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_RANDOM_SELECTOR_H
#define TEST_RANDOM_SELECTOR_H
#include "limbo_test.h"
#include "modules/limboai/bt/tasks/bt_task.h"
#include "modules/limboai/bt/tasks/composites/bt_random_selector.h"
namespace TestRandomSelector {
TEST_CASE("[Modules][LimboAI] BTRandomSelector") {
Ref<BTRandomSelector> sel = memnew(BTRandomSelector);
Ref<BTTestAction> task1 = memnew(BTTestAction());
Ref<BTTestAction> task2 = memnew(BTTestAction());
Ref<BTTestAction> task3 = memnew(BTTestAction());
sel->add_child(task1);
sel->add_child(task2);
sel->add_child(task3);
REQUIRE(sel->get_child_count() == 3);
SUBCASE("Expecting RUNNING status when a child task returns RUNNING") {
task1->ret_status = BTTask::FAILURE;
task2->ret_status = BTTask::RUNNING;
task3->ret_status = BTTask::FAILURE;
CHECK(sel->execute(0.01666) == BTTask::RUNNING);
CHECK(task1->is_status_either(BTTask::FAILURE, BTTask::FRESH));
CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->is_status_either(BTTask::FAILURE, BTTask::FRESH));
CHECK_ENTRIES_TICKS_EXITS_UP_TO(task1, 1, 1, 1); // * ran no more than once
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 0); // * running - enters and ticks
CHECK_ENTRIES_TICKS_EXITS_UP_TO(task3, 1, 1, 1); // * ran no more than once
SUBCASE("Resuming and failing when all tasks fail") {
task2->ret_status = BTTask::FAILURE;
CHECK(sel->execute(0.01666) == BTTask::FAILURE);
CHECK(task1->get_status() == BTTask::FAILURE);
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->get_status() == BTTask::FAILURE);
CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1); // * ran once
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 1); // * finishes - ticks and exits with FAILURE
CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1); // * ran once
}
SUBCASE("Resuming and succeeding when a child task succeeds") {
task2->ret_status = BTTask::SUCCESS;
CHECK(sel->execute(0.01666) == BTTask::SUCCESS);
CHECK(task1->is_status_either(BTTask::FAILURE, BTTask::FRESH));
CHECK(task2->get_status() == BTTask::SUCCESS);
CHECK(task3->is_status_either(BTTask::FAILURE, BTTask::FRESH));
CHECK_ENTRIES_TICKS_EXITS_UP_TO(task1, 1, 1, 1); // * ran no more than once
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 1); // * finishes - ticks and exits with SUCCESS
CHECK_ENTRIES_TICKS_EXITS_UP_TO(task3, 1, 1, 1); // * ran no more than once
}
}
SUBCASE("Verify that tasks are executed in random order") {
task1->ret_status = BTTask::FAILURE;
task2->ret_status = BTTask::FAILURE;
task3->ret_status = BTTask::RUNNING;
int num_tries = 10;
bool is_confirmed = false;
while (!is_confirmed && num_tries--) {
CHECK(sel->execute(0.01666) == BTTask::RUNNING);
int checksum = 0;
if (task1->get_status() == BTTask::FAILURE) {
checksum += 1;
}
if (task2->get_status() == BTTask::FAILURE) {
checksum += 2;
}
if (task3->get_status() == BTTask::RUNNING) {
checksum += 4;
}
is_confirmed = (checksum != 7);
}
CHECK(is_confirmed);
}
}
TEST_CASE("[Modules][LimboAI] Empty BTRandomSelector returns FAILURE") {
Ref<BTRandomSelector> seq = memnew(BTRandomSelector);
CHECK(seq->execute(0.01666) == BTTask::FAILURE);
}
} //namespace TestRandomSelector
#endif // TEST_RANDOM_SELECTOR_H