Testing: Add tests for BTParallel
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Serhii Snitsaruk
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/**
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* test_parallel.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_PARALLEL_H
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#define TEST_PARALLEL_H
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#include "limbo_test.h"
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#include "modules/limboai/bt/tasks/bt_task.h"
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#include "modules/limboai/bt/tasks/composites/bt_parallel.h"
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namespace TestParallel {
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TEST_CASE("[Modules][LimboAI] BTParallel with num_required_successes: 1 and num_required_failures: 1") {
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Ref<BTParallel> par = memnew(BTParallel);
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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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par->add_child(task1);
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par->add_child(task2);
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par->add_child(task3);
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REQUIRE(par->get_child_count() == 3);
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SUBCASE("BTParallel composition {RUNNING, SUCCESS, FAILURE} and successes/failures required 1/1") {
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// * Case #1: When reached both success and failure required, we expect one that triggered sooner (SUCCESS in this case).
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par->set_num_successes_required(1);
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par->set_num_failures_required(1);
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par->set_repeat(false);
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task1->ret_status = BTTask::RUNNING;
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task2->ret_status = BTTask::SUCCESS;
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task3->ret_status = BTTask::FAILURE;
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CHECK(par->execute(0.1666) == BTTask::SUCCESS); // When reached both conditions.
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CHECK(task1->get_status() == BTTask::RUNNING);
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CHECK(task2->get_status() == BTTask::SUCCESS);
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CHECK(task3->get_status() == BTTask::FAILURE);
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CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 0); // * running
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1); // * finished
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CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1); // * finished
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}
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SUBCASE("BTParallel composition {RUNNING, SUCCESS, RUNNING} and successes/failures required 1/1") {
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// * Case #1b: When reached required number of successes, we expect SUCCESS.
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par->set_num_successes_required(1);
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par->set_num_failures_required(1);
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par->set_repeat(false);
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task1->ret_status = BTTask::RUNNING;
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task2->ret_status = BTTask::SUCCESS;
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task3->ret_status = BTTask::RUNNING;
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CHECK(par->execute(0.1666) == BTTask::SUCCESS);
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CHECK(task1->get_status() == BTTask::RUNNING);
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CHECK(task2->get_status() == BTTask::SUCCESS);
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CHECK(task3->get_status() == BTTask::RUNNING);
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CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 0); // * running
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1); // * finished
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CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 0); // * running
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}
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SUBCASE("BTParallel composition {RUNNING, FAILURE, RUNNING} and successes/failures required 1/1") {
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// * Case #1c: When reached required number of failures, we expect FAILURE.
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par->set_num_successes_required(1);
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par->set_num_failures_required(1);
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par->set_repeat(false);
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task1->ret_status = BTTask::RUNNING;
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task2->ret_status = BTTask::FAILURE;
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task3->ret_status = BTTask::RUNNING;
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CHECK(par->execute(0.1666) == BTTask::FAILURE);
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CHECK(task1->get_status() == BTTask::RUNNING);
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CHECK(task2->get_status() == BTTask::FAILURE);
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CHECK(task3->get_status() == BTTask::RUNNING);
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CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 0); // * running
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1); // * finished
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CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 0); // * running
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}
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SUBCASE("BTParallel composition {SUCCESS, RUNNING, FAILURE} with successes/failures required 3/3 (not repeating)") {
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// * Case #2: When failed to reach required number of successes or failures,
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// * and not all children finished executing while not repeating, we expect RUNNING.
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task1->ret_status = BTTask::SUCCESS;
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task2->ret_status = BTTask::RUNNING;
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task3->ret_status = BTTask::FAILURE;
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par->set_num_successes_required(3);
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par->set_num_failures_required(3);
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par->set_repeat(false);
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CHECK(par->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::FAILURE);
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CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1); // * finished
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 0); // * running
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CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1); // * finished
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}
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SUBCASE("BTParallel composition {SUCCESS, FAILURE, SUCCESS} with successes/failures required 3/3 (not repeating)") {
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// * Case #3: When failed to reach required number of successes or failures,
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// * and all children finished executing while not repeating, we expect FAILURE.
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task1->ret_status = BTTask::SUCCESS;
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task2->ret_status = BTTask::FAILURE;
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task3->ret_status = BTTask::SUCCESS;
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par->set_num_successes_required(3);
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par->set_num_failures_required(3);
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par->set_repeat(false);
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CHECK(par->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::SUCCESS);
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CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1);
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CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1);
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}
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SUBCASE("BTParallel composition {SUCCESS, FAILURE, SUCCESS} with successes/failures required 3/3 (repeating)") {
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// * Case #4: When failed to reach required number of successes or failures,
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// * and all children finished executing while repeating, we expect RUNNING.
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task1->ret_status = BTTask::SUCCESS;
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task2->ret_status = BTTask::FAILURE;
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task3->ret_status = BTTask::SUCCESS;
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par->set_num_successes_required(3);
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par->set_num_failures_required(3);
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par->set_repeat(true);
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CHECK(par->execute(0.1666) == BTTask::RUNNING);
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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::SUCCESS);
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CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1);
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CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1);
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// * Execution #2: Check if tasks are repeated, when set so (there is no RUNNING task).
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CHECK(par->execute(0.1666) == BTTask::RUNNING);
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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::SUCCESS);
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CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * repeated
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CHECK_ENTRIES_TICKS_EXITS(task2, 2, 2, 2); // * repeated
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CHECK_ENTRIES_TICKS_EXITS(task3, 2, 2, 2); // * repeated
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}
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SUBCASE("BTParallel composition {SUCCESS, RUNNING, FAILURE} with successes/failures required 2/2 (not repeating)") {
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// * Case #5: When failed to reach required number of successes or failures,
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// * but not all children finished executing (not repeating), we expect RUNNING.
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task1->ret_status = BTTask::SUCCESS;
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task2->ret_status = BTTask::RUNNING;
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task3->ret_status = BTTask::FAILURE;
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par->set_num_successes_required(2);
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par->set_num_failures_required(2);
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par->set_repeat(false);
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CHECK(par->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::FAILURE);
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CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 0);
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CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1);
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// * Execution #2: Check if tasks are not repeated, when set so.
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CHECK(par->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::FAILURE);
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CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1); // * not repeated
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 0); // * continued
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CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1); // * not repeated
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// * Execution #3: Check if tasks are repeated, when set so.
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par->set_repeat(true);
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CHECK(par->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::FAILURE);
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CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * repeated
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 3, 0); // * continued
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CHECK_ENTRIES_TICKS_EXITS(task3, 2, 2, 2); // * repeated
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}
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}
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} //namespace TestParallel
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#endif // TEST_PARALLEL_H
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