Testing: Add tests for BTSelector

This commit is contained in:
Serhii Snitsaruk 2023-08-29 16:32:14 +02:00
parent 108526ec07
commit dad8d5297f
2 changed files with 199 additions and 3 deletions

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@ -17,10 +17,8 @@
class BTTestAction : public BTAction {
GDCLASS(BTTestAction, BTAction);
private:
int ret_status = BTTask::SUCCESS;
public:
int ret_status = BTTask::SUCCESS;
int num_entries = 0;
int num_ticks = 0;
int num_exits = 0;

198
tests/test_selector.h Normal file
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@ -0,0 +1,198 @@
/**
* test_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_SELECTOR_H
#define TEST_SELECTOR_H
#include "tests/test_macros.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 {
TEST_CASE("[Modules][LimboAI] BTSelector when all return FAILURE") {
Ref<BTSelector> sel = memnew(BTSelector);
Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::FAILURE));
Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::FAILURE));
Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::FAILURE));
sel->add_child(task1);
sel->add_child(task2);
sel->add_child(task3);
REQUIRE(sel->get_child_count() == 3);
// * First execution.
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(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);
// * Second execution.
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(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);
}
TEST_CASE("[Modules][LimboAI] BTSelector when second returns SUCCESS") {
Ref<BTSelector> sel = memnew(BTSelector);
Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::FAILURE));
Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::SUCCESS));
Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::FAILURE));
sel->add_child(task1);
sel->add_child(task2);
sel->add_child(task3);
REQUIRE(sel->get_child_count() == 3);
// * First execution.
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(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);
// * Second execution.
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(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);
}
TEST_CASE("[Modules][LimboAI] BTSelector when second returns RUNNING") {
Ref<BTSelector> sel = memnew(BTSelector);
Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::FAILURE));
Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::RUNNING));
Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::FAILURE));
sel->add_child(task1);
sel->add_child(task2);
sel->add_child(task3);
REQUIRE(sel->get_child_count() == 3);
// * First execution.
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(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);
// * Second execution.
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(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);
// * Third execution with second task returning FAILURE.
task2->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(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);
}
} //namespace TestSelector
#endif // TEST_SELECTOR_H