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Testing: Add tests for BTDynamicSequence

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Serhii Snitsaruk 2023-08-29 22:45:57 +02:00
parent 740f2e2f9e
commit e3e65994ec
1 changed files with 108 additions and 0 deletions
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/**
* test_dynamic_sequence.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_SEQUENCE_H
#define TEST_DYNAMIC_SEQUENCE_H
#include "limbo_test.h"
#include "modules/limboai/bt/tasks/bt_task.h"
#include "modules/limboai/bt/tasks/composites/bt_dynamic_sequence.h"
namespace TestDynamicSequence {
TEST_CASE("[Modules][LimboAI] BTDynamicSequence #1") {
Ref<BTDynamicSequence> seq = memnew(BTDynamicSequence);
Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::SUCCESS));
Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::SUCCESS));
Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::SUCCESS));
seq->add_child(task1);
seq->add_child(task2);
seq->add_child(task3);
REQUIRE(seq->get_child_count() == 3);
SUBCASE("Subcase #1: Dynamic sequence processes tasks sequentially, while re-evaluating its child tasks in every execution tick.") {
task1->ret_status = BTTask::SUCCESS;
task2->ret_status = BTTask::RUNNING;
task3->ret_status = BTTask::SUCCESS;
CHECK(seq->execute(0.1666) == BTTask::RUNNING);
CHECK(task1->get_status() == BTTask::SUCCESS);
CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1); // * finished
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 0); // * running
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh
SUBCASE("Subcase 1A: With no changes, first task is re-evaluated.") {
CHECK(seq->execute(0.1666) == BTTask::RUNNING);
CHECK(task1->get_status() == BTTask::SUCCESS);
CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * reevaluated with SUCCESS
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 0); // * continued
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh
}
SUBCASE("Subcase 1B: When first task re-evaluates to FAILURE, second task should be cancelled and exited.") {
task1->ret_status = BTTask::FAILURE;
CHECK(seq->execute(0.1666) == BTTask::FAILURE);
CHECK(task1->get_status() == BTTask::FAILURE);
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); // * reevaluated with FAILURE
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 1C: When second task finished, third one is executed.") {
task1->ret_status = BTTask::SUCCESS;
task2->ret_status = BTTask::SUCCESS;
task3->ret_status = BTTask::RUNNING;
CHECK(seq->execute(0.1666) == BTTask::RUNNING);
CHECK(task1->get_status() == BTTask::SUCCESS);
CHECK(task2->get_status() == BTTask::SUCCESS);
CHECK(task3->get_status() == BTTask::RUNNING);
CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * reevaluated 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
SUBCASE("Subcase 1C1: First two are re-evaluated, and when all finish with SUCCESS, we expect SUCCESS.") {
task1->ret_status = BTTask::SUCCESS;
task2->ret_status = BTTask::SUCCESS;
task3->ret_status = BTTask::SUCCESS;
CHECK(seq->execute(0.1666) == BTTask::SUCCESS);
CHECK(task1->get_status() == BTTask::SUCCESS);
CHECK(task2->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(task2, 2, 3, 2); // * reevaluated with SUCCESS
CHECK_ENTRIES_TICKS_EXITS(task3, 1, 2, 1); // * tiched and exited with SUCCESS
}
}
}
}
} //namespace TestDynamicSequence
#endif // TEST_DYNAMIC_SEQUENCE_H