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limboai/tests/test_hsm.h

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/**
* test_hsm.h
* =============================================================================
* Copyright 2021-2024 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_HSM_H
#define TEST_HSM_H
#include "limbo_test.h"
#include "modules/limboai/hsm/limbo_hsm.h"
#include "modules/limboai/hsm/limbo_state.h"
#include "core/object/object.h"
#include "core/object/ref_counted.h"
#include "core/os/memory.h"
#include "core/variant/variant.h"
namespace TestHSM {
inline void wire_callbacks(LimboState *p_state, Ref<CallbackCounter> p_entries_counter, Ref<CallbackCounter> p_updates_counter, Ref<CallbackCounter> p_exits_counter) {
p_state->call_on_enter(callable_mp(p_entries_counter.ptr(), &CallbackCounter::callback));
p_state->call_on_update(callable_mp(p_updates_counter.ptr(), &CallbackCounter::callback_delta));
p_state->call_on_exit(callable_mp(p_exits_counter.ptr(), &CallbackCounter::callback));
}
class TestGuard : public RefCounted {
GDCLASS(TestGuard, RefCounted);
public:
bool permitted_to_enter = false;
bool can_enter() { return permitted_to_enter; }
};
TEST_CASE("[Modules][LimboAI] HSM") {
Node *agent = memnew(Node);
LimboHSM *hsm = memnew(LimboHSM);
Ref<CallbackCounter> alpha_entries = memnew(CallbackCounter);
Ref<CallbackCounter> alpha_exits = memnew(CallbackCounter);
Ref<CallbackCounter> alpha_updates = memnew(CallbackCounter);
Ref<CallbackCounter> beta_entries = memnew(CallbackCounter);
Ref<CallbackCounter> beta_exits = memnew(CallbackCounter);
Ref<CallbackCounter> beta_updates = memnew(CallbackCounter);
Ref<CallbackCounter> nested_entries = memnew(CallbackCounter);
Ref<CallbackCounter> nested_exits = memnew(CallbackCounter);
Ref<CallbackCounter> nested_updates = memnew(CallbackCounter);
Ref<CallbackCounter> gamma_entries = memnew(CallbackCounter);
Ref<CallbackCounter> gamma_exits = memnew(CallbackCounter);
Ref<CallbackCounter> gamma_updates = memnew(CallbackCounter);
Ref<CallbackCounter> delta_entries = memnew(CallbackCounter);
Ref<CallbackCounter> delta_exits = memnew(CallbackCounter);
Ref<CallbackCounter> delta_updates = memnew(CallbackCounter);
LimboState *state_alpha = memnew(LimboState);
wire_callbacks(state_alpha, alpha_entries, alpha_updates, alpha_exits);
LimboState *state_beta = memnew(LimboState);
wire_callbacks(state_beta, beta_entries, beta_updates, beta_exits);
LimboHSM *nested_hsm = memnew(LimboHSM);
wire_callbacks(nested_hsm, nested_entries, nested_updates, nested_exits);
LimboState *state_gamma = memnew(LimboState);
wire_callbacks(state_gamma, gamma_entries, gamma_updates, gamma_exits);
LimboState *state_delta = memnew(LimboState);
wire_callbacks(state_delta, delta_entries, delta_updates, delta_exits);
hsm->add_child(state_alpha);
hsm->add_child(state_beta);
hsm->add_child(nested_hsm);
nested_hsm->add_child(state_gamma);
nested_hsm->add_child(state_delta);
hsm->add_transition(state_alpha, state_beta, "event_one");
hsm->add_transition(state_beta, state_alpha, "event_two");
hsm->add_transition(hsm->anystate(), nested_hsm, "goto_nested");
nested_hsm->add_transition(state_gamma, state_delta, "goto_delta");
nested_hsm->add_transition(state_delta, state_gamma, "goto_gamma");
hsm->set_initial_state(state_alpha);
Ref<Blackboard> parent_scope = memnew(Blackboard);
hsm->initialize(agent, parent_scope);
hsm->set_active(true);
SUBCASE("Test has_transition() and remove_transition()") {
CHECK(hsm->has_transition(state_alpha, "event_one"));
CHECK(hsm->has_transition(state_beta, "event_two"));
CHECK(hsm->has_transition(hsm->anystate(), "goto_nested"));
CHECK_FALSE(hsm->has_transition(state_alpha, "event_two"));
CHECK_FALSE(hsm->has_transition(state_beta, "event_one"));
CHECK_FALSE(hsm->has_transition(hsm->anystate(), "event_one"));
hsm->remove_transition(state_alpha, "event_one");
CHECK_FALSE(hsm->has_transition(state_alpha, "event_one"));
hsm->remove_transition(state_beta, "event_two");
CHECK_FALSE(hsm->has_transition(state_beta, "event_two"));
hsm->remove_transition(hsm->anystate(), "goto_nested");
CHECK_FALSE(hsm->has_transition(hsm->anystate(), "goto_nested"));
}
SUBCASE("Test get_root()") {
CHECK(state_alpha->get_root() == hsm);
CHECK(state_beta->get_root() == hsm);
CHECK(hsm->get_root() == hsm);
}
SUBCASE("Test with basic workflow and transitions") {
REQUIRE(hsm->is_active());
REQUIRE(hsm->get_active_state() == state_alpha);
CHECK(alpha_entries->num_callbacks == 1); // * entered
CHECK(alpha_updates->num_callbacks == 0);
CHECK(alpha_exits->num_callbacks == 0);
CHECK(beta_entries->num_callbacks == 0);
CHECK(beta_updates->num_callbacks == 0);
CHECK(beta_exits->num_callbacks == 0);
hsm->update(0.01666);
CHECK(alpha_entries->num_callbacks == 1);
CHECK(alpha_updates->num_callbacks == 1); // * updated
CHECK(alpha_exits->num_callbacks == 0);
CHECK(beta_entries->num_callbacks == 0);
CHECK(beta_updates->num_callbacks == 0);
CHECK(beta_exits->num_callbacks == 0);
hsm->update(0.01666);
CHECK(alpha_entries->num_callbacks == 1);
CHECK(alpha_updates->num_callbacks == 2); // * updated x2
CHECK(alpha_exits->num_callbacks == 0);
CHECK(beta_entries->num_callbacks == 0);
CHECK(beta_updates->num_callbacks == 0);
CHECK(beta_exits->num_callbacks == 0);
hsm->dispatch("event_one");
REQUIRE(hsm->get_active_state() == state_beta);
CHECK(alpha_entries->num_callbacks == 1);
CHECK(alpha_updates->num_callbacks == 2);
CHECK(alpha_exits->num_callbacks == 1); // * (1) exited
CHECK(beta_entries->num_callbacks == 1); // * (2) entered
CHECK(beta_updates->num_callbacks == 0);
CHECK(beta_exits->num_callbacks == 0);
hsm->update(0.01666);
CHECK(alpha_entries->num_callbacks == 1);
CHECK(alpha_updates->num_callbacks == 2);
CHECK(alpha_exits->num_callbacks == 1);
CHECK(beta_entries->num_callbacks == 1);
CHECK(beta_updates->num_callbacks == 1); // * updated
CHECK(beta_exits->num_callbacks == 0);
hsm->update(0.01666);
CHECK(alpha_entries->num_callbacks == 1);
CHECK(alpha_updates->num_callbacks == 2);
CHECK(alpha_exits->num_callbacks == 1);
CHECK(beta_entries->num_callbacks == 1);
CHECK(beta_updates->num_callbacks == 2); // * updated x2
CHECK(beta_exits->num_callbacks == 0);
hsm->dispatch("event_two");
REQUIRE(hsm->get_active_state() == state_alpha);
CHECK(alpha_entries->num_callbacks == 2); // * (2) entered
CHECK(alpha_updates->num_callbacks == 2);
CHECK(alpha_exits->num_callbacks == 1);
CHECK(beta_entries->num_callbacks == 1);
CHECK(beta_updates->num_callbacks == 2);
CHECK(beta_exits->num_callbacks == 1); // * (1) exited
hsm->update(0.01666);
CHECK(alpha_entries->num_callbacks == 2);
CHECK(alpha_updates->num_callbacks == 3); // * updated
CHECK(alpha_exits->num_callbacks == 1);
CHECK(beta_entries->num_callbacks == 1);
CHECK(beta_updates->num_callbacks == 2);
CHECK(beta_exits->num_callbacks == 1);
hsm->dispatch(hsm->event_finished());
CHECK(alpha_entries->num_callbacks == 2);
CHECK(alpha_updates->num_callbacks == 3);
CHECK(alpha_exits->num_callbacks == 2); // * exited
CHECK(beta_entries->num_callbacks == 1);
CHECK(beta_updates->num_callbacks == 2);
CHECK(beta_exits->num_callbacks == 1);
CHECK_FALSE(hsm->is_active()); // * not active
CHECK(hsm->get_active_state() == nullptr);
}
SUBCASE("Test change_active_state()") {
REQUIRE(hsm->is_active());
REQUIRE(hsm->get_active_state() == state_alpha);
CHECK(alpha_entries->num_callbacks == 1); // * entered
CHECK(alpha_updates->num_callbacks == 0);
CHECK(alpha_exits->num_callbacks == 0);
CHECK(beta_entries->num_callbacks == 0);
CHECK(beta_updates->num_callbacks == 0);
CHECK(beta_exits->num_callbacks == 0);
hsm->change_active_state(state_beta);
CHECK(hsm->get_active_state() == state_beta);
CHECK(alpha_entries->num_callbacks == 1);
CHECK(alpha_updates->num_callbacks == 0);
CHECK(alpha_exits->num_callbacks == 1); // * exited
CHECK(beta_entries->num_callbacks == 1); // * entered
CHECK(beta_updates->num_callbacks == 0);
CHECK(beta_exits->num_callbacks == 0);
hsm->change_active_state(state_beta); // * should exit and re-enter
CHECK(hsm->get_active_state() == state_beta);
CHECK(alpha_entries->num_callbacks == 1);
CHECK(alpha_updates->num_callbacks == 0);
CHECK(alpha_exits->num_callbacks == 1);
CHECK(beta_entries->num_callbacks == 2); // * re-entered
CHECK(beta_updates->num_callbacks == 0);
CHECK(beta_exits->num_callbacks == 1); // * exited
}
SUBCASE("Test transition with guard") {
Ref<TestGuard> guard = memnew(TestGuard);
state_beta->set_guard(callable_mp(guard.ptr(), &TestGuard::can_enter));
SUBCASE("When entry is permitted") {
guard->permitted_to_enter = true;
hsm->dispatch("event_one");
CHECK(hsm->get_active_state() == state_beta);
CHECK(alpha_exits->num_callbacks == 1);
CHECK(beta_entries->num_callbacks == 1);
}
SUBCASE("When entry is not permitted") {
guard->permitted_to_enter = false;
hsm->dispatch("event_one");
CHECK(hsm->get_active_state() == state_alpha);
CHECK(alpha_exits->num_callbacks == 0);
CHECK(beta_entries->num_callbacks == 0);
}
}
SUBCASE("When there is no transition for given event") {
hsm->dispatch("not_found");
CHECK(alpha_exits->num_callbacks == 0);
CHECK(beta_entries->num_callbacks == 0);
CHECK(hsm->is_active());
CHECK(hsm->get_active_state() == state_alpha);
}
SUBCASE("Check if parent scope is accessible") {
parent_scope->set_var("parent_var", 100);
CHECK(state_alpha->get_blackboard()->get_parent() == parent_scope);
CHECK(state_beta->get_blackboard()->get_parent() == parent_scope);
CHECK(state_alpha->get_blackboard()->get_var("parent_var", Variant()) == Variant(100));
}
SUBCASE("Test flow with a nested HSM, and test dispatch() from nested states") {
state_gamma->dispatch("goto_nested");
CHECK(hsm->get_leaf_state() == state_gamma);
CHECK(nested_entries->num_callbacks == 1);
CHECK(nested_updates->num_callbacks == 0);
CHECK(nested_exits->num_callbacks == 0);
CHECK(gamma_entries->num_callbacks == 1);
CHECK(gamma_updates->num_callbacks == 0);
CHECK(gamma_exits->num_callbacks == 0);
hsm->update(0.01666);
CHECK(nested_entries->num_callbacks == 1);
CHECK(nested_updates->num_callbacks == 1);
CHECK(nested_exits->num_callbacks == 0);
CHECK(gamma_entries->num_callbacks == 1);
CHECK(gamma_updates->num_callbacks == 1);
CHECK(gamma_exits->num_callbacks == 0);
state_gamma->dispatch("goto_delta");
CHECK(hsm->get_leaf_state() == state_delta);
CHECK(nested_entries->num_callbacks == 1);
CHECK(nested_updates->num_callbacks == 1);
CHECK(nested_exits->num_callbacks == 0);
CHECK(gamma_entries->num_callbacks == 1);
CHECK(gamma_updates->num_callbacks == 1);
CHECK(gamma_exits->num_callbacks == 1);
CHECK(delta_entries->num_callbacks == 1);
CHECK(delta_updates->num_callbacks == 0);
CHECK(delta_exits->num_callbacks == 0);
state_delta->dispatch(hsm->event_finished());
CHECK(nested_entries->num_callbacks == 1);
CHECK(nested_updates->num_callbacks == 1);
CHECK(nested_exits->num_callbacks == 1);
CHECK(gamma_entries->num_callbacks == 1);
CHECK(gamma_updates->num_callbacks == 1);
CHECK(gamma_exits->num_callbacks == 1);
CHECK(delta_entries->num_callbacks == 1);
CHECK(delta_updates->num_callbacks == 0);
CHECK(delta_exits->num_callbacks == 1);
CHECK(hsm->is_active() == false);
CHECK(hsm->get_leaf_state() == hsm);
}
SUBCASE("Test get_root()") {
CHECK(hsm->get_root() == hsm);
CHECK(state_alpha->get_root() == hsm);
CHECK(state_beta->get_root() == hsm);
CHECK(nested_hsm->get_root() == hsm);
CHECK(state_delta->get_root() == hsm);
CHECK(state_gamma->get_root() == hsm);
}
memdelete(agent);
memdelete(hsm);
}
} //namespace TestHSM
#endif // TEST_HSM_H
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