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Refactor unit tests

This commit is contained in:
Serhii Snitsaruk 2023-08-29 16:56:25 +02:00
parent dad8d5297f
commit 7252a37b2c
3 changed files with 62 additions and 149 deletions
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15
tests/tasks/bt_test_action.h → tests/limbo_test.h
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@ -1,5 +1,5 @@
/**
* bt_test_action.h
* limbo_test.h
* =============================================================================
* Copyright 2021-2023 Serhii Snitsaruk
*
@ -9,8 +9,10 @@
* =============================================================================
*/
#ifndef BT_TEST_ACTION_H
#define BT_TEST_ACTION_H
#ifndef LIMBO_TEST_H
#define LIMBO_TEST_H
#include "tests/test_macros.h"
#include "modules/limboai/bt/tasks/bt_action.h"
@ -36,4 +38,9 @@ public:
BTTestAction(int p_return_status) { ret_status = p_return_status; }
};
#endif // BT_TEST_ACTION_H
#define CHECK_ENTRIES_TICKS_EXITS(m_task, m_entries, m_ticks, m_exits) \
CHECK(m_task->num_entries == m_entries); \
CHECK(m_task->num_ticks == m_ticks); \
CHECK(m_task->num_exits == m_exits);
#endif // LIMBO_TEST_H

101
tests/test_selector.h
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@ -12,11 +12,10 @@
#ifndef TEST_SELECTOR_H
#define TEST_SELECTOR_H
#include "tests/test_macros.h"
#include "limbo_test.h"
#include "modules/limboai/bt/tasks/bt_task.h"
#include "modules/limboai/bt/tasks/composites/bt_selector.h"
#include "modules/limboai/tests/tasks/bt_test_action.h"
namespace TestSelector {
@ -39,17 +38,9 @@ TEST_CASE("[Modules][LimboAI] BTSelector when all return FAILURE") {
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->get_status() == BTTask::FAILURE);
CHECK(task1->num_entries == 1);
CHECK(task1->num_ticks == 1);
CHECK(task1->num_exits == 1);
CHECK(task2->num_entries == 1);
CHECK(task2->num_ticks == 1);
CHECK(task2->num_exits == 1);
CHECK(task3->num_entries == 1);
CHECK(task3->num_ticks == 1);
CHECK(task3->num_exits == 1);
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(sel->execute(0.1666) == BTTask::FAILURE);
@ -58,17 +49,9 @@ TEST_CASE("[Modules][LimboAI] BTSelector when all return FAILURE") {
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->get_status() == BTTask::FAILURE);
CHECK(task1->num_entries == 2);
CHECK(task1->num_ticks == 2);
CHECK(task1->num_exits == 2);
CHECK(task2->num_entries == 2);
CHECK(task2->num_ticks == 2);
CHECK(task2->num_exits == 2);
CHECK(task3->num_entries == 2);
CHECK(task3->num_ticks == 2);
CHECK(task3->num_exits == 2);
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] BTSelector when second returns SUCCESS") {
@ -90,17 +73,9 @@ TEST_CASE("[Modules][LimboAI] BTSelector when second returns SUCCESS") {
CHECK(task2->get_status() == BTTask::SUCCESS);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK(task1->num_entries == 1);
CHECK(task1->num_ticks == 1);
CHECK(task1->num_exits == 1);
CHECK(task2->num_entries == 1);
CHECK(task2->num_ticks == 1);
CHECK(task2->num_exits == 1);
CHECK(task3->num_entries == 0);
CHECK(task3->num_ticks == 0);
CHECK(task3->num_exits == 0);
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(sel->execute(0.1666) == BTTask::SUCCESS);
@ -109,17 +84,9 @@ TEST_CASE("[Modules][LimboAI] BTSelector when second returns SUCCESS") {
CHECK(task2->get_status() == BTTask::SUCCESS);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK(task1->num_entries == 2);
CHECK(task1->num_ticks == 2);
CHECK(task1->num_exits == 2);
CHECK(task2->num_entries == 2);
CHECK(task2->num_ticks == 2);
CHECK(task2->num_exits == 2);
CHECK(task3->num_entries == 0);
CHECK(task3->num_ticks == 0);
CHECK(task3->num_exits == 0);
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] BTSelector when second returns RUNNING") {
@ -141,17 +108,9 @@ TEST_CASE("[Modules][LimboAI] BTSelector when second returns RUNNING") {
CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK(task1->num_entries == 1);
CHECK(task1->num_ticks == 1);
CHECK(task1->num_exits == 1);
CHECK(task2->num_entries == 1);
CHECK(task2->num_ticks == 1);
CHECK(task2->num_exits == 0);
CHECK(task3->num_entries == 0);
CHECK(task3->num_ticks == 0);
CHECK(task3->num_exits == 0);
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(sel->execute(0.1666) == BTTask::RUNNING);
@ -160,17 +119,9 @@ TEST_CASE("[Modules][LimboAI] BTSelector when second returns RUNNING") {
CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK(task1->num_entries == 1);
CHECK(task1->num_ticks == 1);
CHECK(task1->num_exits == 1);
CHECK(task2->num_entries == 1);
CHECK(task2->num_ticks == 2);
CHECK(task2->num_exits == 0);
CHECK(task3->num_entries == 0);
CHECK(task3->num_ticks == 0);
CHECK(task3->num_exits == 0);
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 FAILURE.
task2->ret_status = BTTask::FAILURE;
@ -180,17 +131,9 @@ TEST_CASE("[Modules][LimboAI] BTSelector when second returns RUNNING") {
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->get_status() == BTTask::FAILURE);
CHECK(task1->num_entries == 1);
CHECK(task1->num_ticks == 1);
CHECK(task1->num_exits == 1);
CHECK(task2->num_entries == 1);
CHECK(task2->num_ticks == 3);
CHECK(task2->num_exits == 1);
CHECK(task3->num_entries == 1);
CHECK(task3->num_ticks == 1);
CHECK(task3->num_exits == 1);
CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 3, 1);
CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1);
}
} //namespace TestSelector

95
tests/test_sequence.h
View File

@ -12,11 +12,10 @@
#ifndef TEST_SEQUENCE_H
#define TEST_SEQUENCE_H
#include "tests/test_macros.h"
#include "limbo_test.h"
#include "modules/limboai/bt/tasks/bt_task.h"
#include "modules/limboai/bt/tasks/composites/bt_sequence.h"
#include "modules/limboai/tests/tasks/bt_test_action.h"
namespace TestSequence {
@ -39,17 +38,9 @@ TEST_CASE("[Modules][LimboAI] BTSequence when all return SUCCESS") {
CHECK(task2->get_status() == BTTask::SUCCESS);
CHECK(task3->get_status() == BTTask::SUCCESS);
CHECK(task1->num_entries == 1);
CHECK(task1->num_ticks == 1);
CHECK(task1->num_exits == 1);
CHECK(task2->num_entries == 1);
CHECK(task2->num_ticks == 1);
CHECK(task2->num_exits == 1);
CHECK(task3->num_entries == 1);
CHECK(task3->num_ticks == 1);
CHECK(task3->num_exits == 1);
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(0.1666) == BTTask::SUCCESS);
@ -58,17 +49,9 @@ TEST_CASE("[Modules][LimboAI] BTSequence when all return SUCCESS") {
CHECK(task2->get_status() == BTTask::SUCCESS);
CHECK(task3->get_status() == BTTask::SUCCESS);
CHECK(task1->num_entries == 2);
CHECK(task1->num_ticks == 2);
CHECK(task1->num_exits == 2);
CHECK(task2->num_entries == 2);
CHECK(task2->num_ticks == 2);
CHECK(task2->num_exits == 2);
CHECK(task3->num_entries == 2);
CHECK(task3->num_ticks == 2);
CHECK(task3->num_exits == 2);
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") {
@ -90,17 +73,9 @@ TEST_CASE("[Modules][LimboAI] BTSequence when second returns FAILURE") {
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK(task1->num_entries == 1);
CHECK(task1->num_ticks == 1);
CHECK(task1->num_exits == 1);
CHECK(task2->num_entries == 1);
CHECK(task2->num_ticks == 1);
CHECK(task2->num_exits == 1);
CHECK(task3->num_entries == 0);
CHECK(task3->num_ticks == 0);
CHECK(task3->num_exits == 0);
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(0.1666) == BTTask::FAILURE);
@ -109,17 +84,9 @@ TEST_CASE("[Modules][LimboAI] BTSequence when second returns FAILURE") {
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK(task1->num_entries == 2);
CHECK(task1->num_ticks == 2);
CHECK(task1->num_exits == 2);
CHECK(task2->num_entries == 2);
CHECK(task2->num_ticks == 2);
CHECK(task2->num_exits == 2);
CHECK(task3->num_entries == 0);
CHECK(task3->num_ticks == 0);
CHECK(task3->num_exits == 0);
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") {
@ -141,32 +108,28 @@ TEST_CASE("[Modules][LimboAI] BTSequence when second returns RUNNING") {
CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK(task1->num_entries == 1);
CHECK(task1->num_exits == 1);
CHECK(task1->num_ticks == 1);
CHECK(task2->num_entries == 1);
CHECK(task2->num_ticks == 1);
CHECK(task2->num_exits == 0);
CHECK(task3->num_entries == 0);
CHECK(task3->num_ticks == 0);
CHECK(task3->num_exits == 0);
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(0.1666) == BTTask::RUNNING);
CHECK(task1->num_entries == 1);
CHECK(task1->num_exits == 1);
CHECK(task1->num_ticks == 1);
CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 0);
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);
CHECK(task2->num_entries == 1);
CHECK(task2->num_ticks == 2);
CHECK(task2->num_exits == 0);
// * Third execution with second task returning SUCCESS.
task2->ret_status = BTTask::SUCCESS;
CHECK(seq->execute(0.1666) == BTTask::SUCCESS);
CHECK(task3->num_entries == 0);
CHECK(task3->num_ticks == 0);
CHECK(task3->num_exits == 0);
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") {