122 lines
4.6 KiB
C++
122 lines
4.6 KiB
C++
/**
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* test_dynamic_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_DYNAMIC_SELECTOR_H
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#define TEST_DYNAMIC_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_dynamic_selector.h"
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namespace TestDynamicSelector {
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TEST_CASE("[Modules][LimboAI] BTDynamicSelector") {
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Ref<BTDynamicSelector> sel = memnew(BTDynamicSelector);
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Ref<BTTestAction> task1 = memnew(BTTestAction());
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Ref<BTTestAction> task2 = memnew(BTTestAction());
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Ref<BTTestAction> task3 = memnew(BTTestAction());
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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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SUBCASE("Subcase #1: Dynamic selector processes tasks sequentially until first SUCCESS, while re-evaluating its child tasks in every execution tick.") {
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task1->ret_status = BTTask::FAILURE;
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task2->ret_status = BTTask::RUNNING;
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task3->ret_status = BTTask::SUCCESS;
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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); // * finished with FAILURE
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 0); // * enetered and running
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CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh
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SUBCASE("Subcase 1A: With no changes, first task is re-evaluated.") {
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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, 2, 2, 2); // * re-evaluated with FAILURE
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 0); // * continued
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CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh
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}
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SUBCASE("Subcase 1B: When second task succeeds, we finish with SUCCESS.") {
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task2->ret_status = BTTask::SUCCESS;
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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); // * re-evaluated with FAILURE
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 1); // * ticked and exited with SUCCESS
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CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh
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}
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SUBCASE("Subcase 1C: When first task re-evaluates to SUCCESS, second task should be cancelled and exited.") {
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task1->ret_status = BTTask::SUCCESS;
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CHECK(sel->execute(0.01666) == BTTask::SUCCESS);
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CHECK(task1->get_status() == BTTask::SUCCESS);
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CHECK(task2->get_status() == BTTask::FRESH); // * cancelled - status changed to FRESH
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CHECK(task3->get_status() == BTTask::FRESH);
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CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * re-evaluated with SUCCESS
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1); // * cancelled - not ticked and exited
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CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0); // * still fresh
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}
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SUBCASE("Subcase 1D: When first two fail, third one is executed.") {
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task1->ret_status = BTTask::FAILURE;
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task2->ret_status = BTTask::FAILURE;
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task3->ret_status = BTTask::RUNNING;
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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::FAILURE);
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CHECK(task3->get_status() == BTTask::RUNNING);
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CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2); // * re-evaluated with FAILURE
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CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 1); // * ticked and exited with FAILURE
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CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 0); // * entered and running
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SUBCASE("Subcase 1D1: First two are re-evaluated, and when all finish with FAILURE, we expect FAILURE.") {
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task1->ret_status = BTTask::FAILURE;
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task2->ret_status = BTTask::FAILURE;
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task3->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, 3, 3, 3); // * re-evaluated with SUCCESS
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CHECK_ENTRIES_TICKS_EXITS(task2, 2, 3, 2); // * re-evaluated with SUCCESS
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CHECK_ENTRIES_TICKS_EXITS(task3, 1, 2, 1); // * ticked and exited with SUCCESS
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}
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}
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}
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}
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} //namespace TestDynamicSelector
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#endif // TEST_DYNAMIC_SELECTOR_H
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