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Add tests for BTDynamicSelector

This commit is contained in:
Serhii Snitsaruk 2023-08-30 00:07:47 +02:00
parent e3e65994ec
commit 9600e94ee6
2 changed files with 128 additions and 7 deletions
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121
tests/test_dynamic_selector.h Normal file
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@ -0,0 +1,121 @@
/**
* test_dynamic_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_DYNAMIC_SELECTOR_H
#define TEST_DYNAMIC_SELECTOR_H
#include "limbo_test.h"
#include "modules/limboai/bt/tasks/bt_task.h"
#include "modules/limboai/bt/tasks/composites/bt_dynamic_selector.h"
namespace TestDynamicSelector {
TEST_CASE("[Modules][LimboAI] BTDynamicSelector") {
Ref<BTDynamicSelector> sel = memnew(BTDynamicSelector);
Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::SUCCESS));
Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::SUCCESS));
Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::SUCCESS));
sel->add_child(task1);
sel->add_child(task2);
sel->add_child(task3);
REQUIRE(sel->get_child_count() == 3);
SUBCASE("Subcase #1: Dynamic selector processes tasks sequentially until first SUCCESS, while re-evaluating its child tasks in every execution tick.") {
task1->ret_status = BTTask::FAILURE;
task2->ret_status = BTTask::RUNNING;
task3->ret_status = BTTask::SUCCESS;
CHECK(sel->execute(0.1666) == BTTask::RUNNING);
CHECK(task1->get_status() == BTTask::FAILURE);
CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1); // * finished with FAILURE
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 0); // * enetered and running
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh
SUBCASE("Subcase 1A: With no changes, first task is re-evaluated.") {
CHECK(sel->execute(0.1666) == BTTask::RUNNING);
CHECK(task1->get_status() == BTTask::FAILURE);
CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * re-evaluated with FAILURE
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 0); // * continued
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh
}
SUBCASE("Subcase 1B: When second task succeeds, we finish with SUCCESS.") {
task2->ret_status = BTTask::SUCCESS;
CHECK(sel->execute(0.1666) == BTTask::SUCCESS);
CHECK(task1->get_status() == BTTask::FAILURE);
CHECK(task2->get_status() == BTTask::SUCCESS);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * re-evaluated with FAILURE
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 1); // * ticked and exited with SUCCESS
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh
}
SUBCASE("Subcase 1C: When first task re-evaluates to SUCCESS, second task should be cancelled and exited.") {
task1->ret_status = BTTask::SUCCESS;
CHECK(sel->execute(0.1666) == BTTask::SUCCESS);
CHECK(task1->get_status() == BTTask::SUCCESS);
CHECK(task2->get_status() == BTTask::FRESH); // * cancelled - status changed to FRESH
CHECK(task3->get_status() == BTTask::FRESH);
CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * re-evaluated with SUCCESS
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1); // * cancelled - not ticked and exited
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh
}
SUBCASE("Subcase 1D: When first two fail, third one is executed.") {
task1->ret_status = BTTask::FAILURE;
task2->ret_status = BTTask::FAILURE;
task3->ret_status = BTTask::RUNNING;
CHECK(sel->execute(0.1666) == BTTask::RUNNING);
CHECK(task1->get_status() == BTTask::FAILURE);
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->get_status() == BTTask::RUNNING);
CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * re-evaluated with FAILURE
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 1); // * ticked and exited with FAILURE
CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 0); // * entered and running
SUBCASE("Subcase 1D1: First two are re-evaluated, and when all finish with FAILURE, we expect FAILURE.") {
task1->ret_status = BTTask::FAILURE;
task2->ret_status = BTTask::FAILURE;
task3->ret_status = BTTask::FAILURE;
CHECK(sel->execute(0.1666) == 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, 3, 3, 3); // * re-evaluated with SUCCESS
CHECK_ENTRIES_TICKS_EXITS(task2, 2, 3, 2); // * re-evaluated with SUCCESS
CHECK_ENTRIES_TICKS_EXITS(task3, 1, 2, 1); // * ticked and exited with SUCCESS
}
}
}
}
} //namespace TestDynamicSelector
#endif // TEST_DYNAMIC_SELECTOR_H

14
tests/test_dynamic_sequence.h
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@ -19,7 +19,7 @@
namespace TestDynamicSequence { namespace TestDynamicSequence {
TEST_CASE("[Modules][LimboAI] BTDynamicSequence #1") { TEST_CASE("[Modules][LimboAI] BTDynamicSequence") {
Ref<BTDynamicSequence> seq = memnew(BTDynamicSequence); Ref<BTDynamicSequence> seq = memnew(BTDynamicSequence);
Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::SUCCESS)); Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::SUCCESS));
Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::SUCCESS)); Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::SUCCESS));
@ -53,7 +53,7 @@ TEST_CASE("[Modules][LimboAI] BTDynamicSequence #1") {
CHECK(task2->get_status() == BTTask::RUNNING); CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->get_status() == BTTask::FRESH); CHECK(task3->get_status() == BTTask::FRESH);
CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * reevaluated with SUCCESS CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * re-evaluated with SUCCESS
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 0); // * continued CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 0); // * continued
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh
} }
@ -66,7 +66,7 @@ TEST_CASE("[Modules][LimboAI] BTDynamicSequence #1") {
CHECK(task2->get_status() == BTTask::FRESH); // * cancelled - status changed to FRESH CHECK(task2->get_status() == BTTask::FRESH); // * cancelled - status changed to FRESH
CHECK(task3->get_status() == BTTask::FRESH); CHECK(task3->get_status() == BTTask::FRESH);
CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * reevaluated with FAILURE CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * re-evaluated with FAILURE
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1); // * cancelled - not ticked and exited CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1); // * cancelled - not ticked and exited
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh
} }
@ -81,7 +81,7 @@ TEST_CASE("[Modules][LimboAI] BTDynamicSequence #1") {
CHECK(task2->get_status() == BTTask::SUCCESS); CHECK(task2->get_status() == BTTask::SUCCESS);
CHECK(task3->get_status() == BTTask::RUNNING); CHECK(task3->get_status() == BTTask::RUNNING);
CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * reevaluated with SUCCESS CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * re-evaluated with SUCCESS
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 1); // * ticked and exited with SUCCESS CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 1); // * ticked and exited with SUCCESS
CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 0); // * entered and running CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 0); // * entered and running
@ -95,9 +95,9 @@ TEST_CASE("[Modules][LimboAI] BTDynamicSequence #1") {
CHECK(task2->get_status() == BTTask::SUCCESS); CHECK(task2->get_status() == BTTask::SUCCESS);
CHECK(task3->get_status() == BTTask::SUCCESS); CHECK(task3->get_status() == BTTask::SUCCESS);
CHECK_ENTRIES_TICKS_EXITS(task1, 3, 3, 3); // * reevaluated with SUCCESS CHECK_ENTRIES_TICKS_EXITS(task1, 3, 3, 3); // * re-evaluated with SUCCESS
CHECK_ENTRIES_TICKS_EXITS(task2, 2, 3, 2); // * reevaluated with SUCCESS CHECK_ENTRIES_TICKS_EXITS(task2, 2, 3, 2); // * re-evaluated with SUCCESS
CHECK_ENTRIES_TICKS_EXITS(task3, 1, 2, 1); // * tiched and exited with SUCCESS CHECK_ENTRIES_TICKS_EXITS(task3, 1, 2, 1); // * ticked and exited with SUCCESS
} }
} }
} }