Add test for BTRandomSelector

tests/test_random_selector.h

@@ -0,0 +1,110 @@
+/**
+ * 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