142 lines
4.4 KiB
C++
142 lines
4.4 KiB
C++
/**
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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 "limbo_test.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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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(0.01666) == 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_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1);
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CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1);
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// * Second execution.
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CHECK(sel->execute(0.01666) == 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_ENTRIES_TICKS_EXITS(task1, 2, 2, 2);
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CHECK_ENTRIES_TICKS_EXITS(task2, 2, 2, 2);
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CHECK_ENTRIES_TICKS_EXITS(task3, 2, 2, 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(0.01666) == 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_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1);
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CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);
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// * Second execution.
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CHECK(sel->execute(0.01666) == 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_ENTRIES_TICKS_EXITS(task1, 2, 2, 2);
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CHECK_ENTRIES_TICKS_EXITS(task2, 2, 2, 2);
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CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 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(0.01666) == 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_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 0);
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CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);
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// * Second execution.
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CHECK(sel->execute(0.01666) == 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_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 0);
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CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 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(0.01666) == 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_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 3, 1);
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CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1);
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}
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} //namespace TestSelector
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#endif // TEST_SELECTOR_H
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