Testing: Add tests for BTSelector
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Serhii Snitsaruk
parent
108526ec07
commit
dad8d5297f
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@ -17,10 +17,8 @@
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class BTTestAction : public BTAction {
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class BTTestAction : public BTAction {
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GDCLASS(BTTestAction, BTAction);
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GDCLASS(BTTestAction, BTAction);
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private:
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int ret_status = BTTask::SUCCESS;
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public:
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public:
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int ret_status = BTTask::SUCCESS;
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int num_entries = 0;
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int num_entries = 0;
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int num_ticks = 0;
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int num_ticks = 0;
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int num_exits = 0;
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int num_exits = 0;
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@ -0,0 +1,198 @@
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/**
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* test_selector.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_SELECTOR_H
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#define TEST_SELECTOR_H
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#include "tests/test_macros.h"
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#include "modules/limboai/bt/tasks/bt_task.h"
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#include "modules/limboai/bt/tasks/composites/bt_selector.h"
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#include "modules/limboai/tests/tasks/bt_test_action.h"
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namespace TestSelector {
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TEST_CASE("[Modules][LimboAI] BTSelector when all return FAILURE") {
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Ref<BTSelector> sel = memnew(BTSelector);
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Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::FAILURE));
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Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::FAILURE));
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Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::FAILURE));
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sel->add_child(task1);
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sel->add_child(task2);
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sel->add_child(task3);
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REQUIRE(sel->get_child_count() == 3);
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// * First execution.
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CHECK(sel->execute(0.1666) == BTTask::FAILURE);
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CHECK(task1->get_status() == BTTask::FAILURE);
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CHECK(task2->get_status() == BTTask::FAILURE);
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CHECK(task3->get_status() == BTTask::FAILURE);
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CHECK(task1->num_entries == 1);
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CHECK(task1->num_ticks == 1);
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CHECK(task1->num_exits == 1);
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CHECK(task2->num_entries == 1);
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CHECK(task2->num_ticks == 1);
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CHECK(task2->num_exits == 1);
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CHECK(task3->num_entries == 1);
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CHECK(task3->num_ticks == 1);
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CHECK(task3->num_exits == 1);
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// * Second execution.
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CHECK(sel->execute(0.1666) == BTTask::FAILURE);
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CHECK(task1->get_status() == BTTask::FAILURE);
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CHECK(task2->get_status() == BTTask::FAILURE);
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CHECK(task3->get_status() == BTTask::FAILURE);
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CHECK(task1->num_entries == 2);
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CHECK(task1->num_ticks == 2);
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CHECK(task1->num_exits == 2);
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CHECK(task2->num_entries == 2);
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CHECK(task2->num_ticks == 2);
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CHECK(task2->num_exits == 2);
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CHECK(task3->num_entries == 2);
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CHECK(task3->num_ticks == 2);
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CHECK(task3->num_exits == 2);
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}
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TEST_CASE("[Modules][LimboAI] BTSelector when second returns SUCCESS") {
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Ref<BTSelector> sel = memnew(BTSelector);
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Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::FAILURE));
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Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::SUCCESS));
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Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::FAILURE));
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sel->add_child(task1);
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sel->add_child(task2);
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sel->add_child(task3);
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REQUIRE(sel->get_child_count() == 3);
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// * First execution.
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CHECK(sel->execute(0.1666) == BTTask::SUCCESS);
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CHECK(task1->get_status() == BTTask::FAILURE);
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CHECK(task2->get_status() == BTTask::SUCCESS);
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CHECK(task3->get_status() == BTTask::FRESH);
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CHECK(task1->num_entries == 1);
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CHECK(task1->num_ticks == 1);
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CHECK(task1->num_exits == 1);
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CHECK(task2->num_entries == 1);
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CHECK(task2->num_ticks == 1);
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CHECK(task2->num_exits == 1);
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CHECK(task3->num_entries == 0);
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CHECK(task3->num_ticks == 0);
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CHECK(task3->num_exits == 0);
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// * Second execution.
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CHECK(sel->execute(0.1666) == BTTask::SUCCESS);
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CHECK(task1->get_status() == BTTask::FAILURE);
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CHECK(task2->get_status() == BTTask::SUCCESS);
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CHECK(task3->get_status() == BTTask::FRESH);
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CHECK(task1->num_entries == 2);
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CHECK(task1->num_ticks == 2);
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CHECK(task1->num_exits == 2);
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CHECK(task2->num_entries == 2);
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CHECK(task2->num_ticks == 2);
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CHECK(task2->num_exits == 2);
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CHECK(task3->num_entries == 0);
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CHECK(task3->num_ticks == 0);
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CHECK(task3->num_exits == 0);
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}
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TEST_CASE("[Modules][LimboAI] BTSelector when second returns RUNNING") {
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Ref<BTSelector> sel = memnew(BTSelector);
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Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::FAILURE));
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Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::RUNNING));
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Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::FAILURE));
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sel->add_child(task1);
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sel->add_child(task2);
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sel->add_child(task3);
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REQUIRE(sel->get_child_count() == 3);
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// * First execution.
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CHECK(sel->execute(0.1666) == BTTask::RUNNING);
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CHECK(task1->get_status() == BTTask::FAILURE);
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CHECK(task2->get_status() == BTTask::RUNNING);
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CHECK(task3->get_status() == BTTask::FRESH);
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CHECK(task1->num_entries == 1);
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CHECK(task1->num_ticks == 1);
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CHECK(task1->num_exits == 1);
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CHECK(task2->num_entries == 1);
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CHECK(task2->num_ticks == 1);
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CHECK(task2->num_exits == 0);
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CHECK(task3->num_entries == 0);
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CHECK(task3->num_ticks == 0);
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CHECK(task3->num_exits == 0);
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// * Second execution.
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CHECK(sel->execute(0.1666) == BTTask::RUNNING);
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CHECK(task1->get_status() == BTTask::FAILURE);
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CHECK(task2->get_status() == BTTask::RUNNING);
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CHECK(task3->get_status() == BTTask::FRESH);
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CHECK(task1->num_entries == 1);
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CHECK(task1->num_ticks == 1);
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CHECK(task1->num_exits == 1);
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CHECK(task2->num_entries == 1);
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CHECK(task2->num_ticks == 2);
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CHECK(task2->num_exits == 0);
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CHECK(task3->num_entries == 0);
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CHECK(task3->num_ticks == 0);
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CHECK(task3->num_exits == 0);
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// * Third execution with second task returning FAILURE.
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task2->ret_status = BTTask::FAILURE;
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CHECK(sel->execute(0.1666) == BTTask::FAILURE);
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CHECK(task1->get_status() == BTTask::FAILURE);
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CHECK(task2->get_status() == BTTask::FAILURE);
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CHECK(task3->get_status() == BTTask::FAILURE);
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CHECK(task1->num_entries == 1);
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CHECK(task1->num_ticks == 1);
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CHECK(task1->num_exits == 1);
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CHECK(task2->num_entries == 1);
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CHECK(task2->num_ticks == 3);
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CHECK(task2->num_exits == 1);
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CHECK(task3->num_entries == 1);
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CHECK(task3->num_ticks == 1);
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CHECK(task3->num_exits == 1);
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}
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} //namespace TestSelector
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#endif // TEST_SELECTOR_H
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