From dad8d5297fce39e38ba5a21ffa558ad85929abff Mon Sep 17 00:00:00 2001 From: Serhii Snitsaruk Date: Tue, 29 Aug 2023 16:32:14 +0200 Subject: [PATCH] Testing: Add tests for BTSelector --- tests/tasks/bt_test_action.h | 4 +- tests/test_selector.h | 198 +++++++++++++++++++++++++++++++++++ 2 files changed, 199 insertions(+), 3 deletions(-) create mode 100644 tests/test_selector.h diff --git a/tests/tasks/bt_test_action.h b/tests/tasks/bt_test_action.h index 25a8721..e18104d 100644 --- a/tests/tasks/bt_test_action.h +++ b/tests/tasks/bt_test_action.h @@ -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; diff --git a/tests/test_selector.h b/tests/test_selector.h new file mode 100644 index 0000000..b8fe5bc --- /dev/null +++ b/tests/test_selector.h @@ -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 sel = memnew(BTSelector); + Ref task1 = memnew(BTTestAction(BTTask::FAILURE)); + Ref task2 = memnew(BTTestAction(BTTask::FAILURE)); + Ref 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 sel = memnew(BTSelector); + Ref task1 = memnew(BTTestAction(BTTask::FAILURE)); + Ref task2 = memnew(BTTestAction(BTTask::SUCCESS)); + Ref 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 sel = memnew(BTSelector); + Ref task1 = memnew(BTTestAction(BTTask::FAILURE)); + Ref task2 = memnew(BTTestAction(BTTask::RUNNING)); + Ref 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