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Add tests for BTTimeLimit

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Serhii Snitsaruk 2023-09-01 14:00:10 +02:00
parent 8965cb5ce1
commit 9ab9599e4f
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/**
* test_time_limit.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_TIME_LIMIT_H
#define TEST_TIME_LIMIT_H
#include "limbo_test.h"
#include "modules/limboai/bt/tasks/bt_task.h"
#include "modules/limboai/bt/tasks/decorators/bt_time_limit.h"
namespace TestTimeLimit {
TEST_CASE("[Modules][LimboAI] BTTimeLimit") {
Ref<BTTimeLimit> lim = memnew(BTTimeLimit);
SUBCASE("When empty") {
ERR_PRINT_OFF;
CHECK(lim->execute(0.01666) == BTTask::FAILURE);
ERR_PRINT_ON;
}
Ref<BTTestAction> task = memnew(BTTestAction);
lim->add_child(task);
lim->set_time_limit(1.0);
SUBCASE("With a long-running task") {
task->ret_status = BTTask::RUNNING;
CHECK(lim->execute(0.0) == BTTask::RUNNING); // * elapsed 0.0
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 1, 1, 0); // * running
CHECK(lim->execute(0.4) == BTTask::RUNNING); // * elapsed 0.4
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 1, 2, 0); // * running
CHECK(lim->execute(0.4) == BTTask::RUNNING); // * elapsed 0.8
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 1, 3, 0); // * running
SUBCASE("When exceeding the time limit") {
CHECK(lim->execute(0.4) == BTTask::FAILURE); // * elapsed 1.2
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::FRESH, 1, 4, 1); // * cancelled & exited
}
SUBCASE("When finishing on time") {
task->ret_status = BTTask::SUCCESS;
CHECK(lim->execute(0.1) == BTTask::SUCCESS); // * elapsed 0.9
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 1, 4, 1); // * succeeded & exited
}
}
SUBCASE("With a quick task") {
task->ret_status = BTTask::SUCCESS;
CHECK(lim->execute(0.01666) == BTTask::SUCCESS);
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 1, 1, 1); // * succeeded
task->ret_status = BTTask::FAILURE;
CHECK(lim->execute(0.01666) == BTTask::FAILURE);
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::FAILURE, 2, 2, 2); // * failed
}
SUBCASE("If time limit is reset") {
task->ret_status = BTTask::RUNNING;
CHECK(lim->execute(0.0) == BTTask::RUNNING); // * elapsed 0.0
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 1, 1, 0); // * running
CHECK(lim->execute(1.1) == BTTask::FAILURE); // * elapsed 1.1
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::FRESH, 1, 2, 1); // * cancelled due to time limit exceeded
CHECK(lim->execute(0.0) == BTTask::RUNNING); // * elapsed 0.0
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 2, 3, 1); // * running
CHECK(lim->execute(0.8) == BTTask::RUNNING); // * elapsed 0.8
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 2, 4, 1); // * running
task->ret_status = BTTask::SUCCESS;
CHECK(lim->execute(0.8) == BTTask::SUCCESS); // * elapsed 1.6
CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 2, 5, 2); // * succeeded, despite time limit exceeded
}
}
} //namespace TestTimeLimit
#endif // TEST_TIME_LIMIT_H