limboai/tests/test_random_sequence.h

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/**
* test_random_sequence.h
* =============================================================================
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* Copyright 2021-2024 Serhii Snitsaruk
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*
* 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_RANDOM_SEQUENCE_H
#define TEST_RANDOM_SEQUENCE_H
#include "limbo_test.h"
#include "modules/limboai/bt/tasks/bt_task.h"
#include "modules/limboai/bt/tasks/composites/bt_random_sequence.h"
namespace TestRandomSequence {
TEST_CASE("[Modules][LimboAI] BTRandomSequence") {
Ref<BTRandomSequence> seq = memnew(BTRandomSequence);
Ref<BTTestAction> task1 = memnew(BTTestAction());
Ref<BTTestAction> task2 = memnew(BTTestAction());
Ref<BTTestAction> task3 = memnew(BTTestAction());
seq->add_child(task1);
seq->add_child(task2);
seq->add_child(task3);
REQUIRE(seq->get_child_count() == 3);
SUBCASE("Expecting RUNNING status when a child task returns RUNNING") {
task1->ret_status = BTTask::SUCCESS;
task2->ret_status = BTTask::RUNNING;
task3->ret_status = BTTask::SUCCESS;
CHECK(seq->execute(0.01666) == BTTask::RUNNING);
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CHECK(task1->is_status_either(BTTask::SUCCESS, BTTask::FRESH));
CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->is_status_either(BTTask::SUCCESS, BTTask::FRESH));
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CHECK_ENTRIES_TICKS_EXITS_UP_TO(task1, 1, 1, 1); // * ran no more than once
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 0); // * running - enters and ticks
CHECK_ENTRIES_TICKS_EXITS_UP_TO(task3, 1, 1, 1); // * ran no more than once
SUBCASE("Resuming and succeeding when all tasks succeed") {
task2->ret_status = BTTask::SUCCESS;
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CHECK(seq->execute(0.01666) == BTTask::SUCCESS);
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CHECK(task1->get_status() == BTTask::SUCCESS);
CHECK(task2->get_status() == BTTask::SUCCESS);
CHECK(task3->get_status() == BTTask::SUCCESS);
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CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1); // * ran once
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 1); // * finishes - ticks and exits with SUCCESS
CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1); // * ran once
}
SUBCASE("Resuming and failing when a child task fails") {
task2->ret_status = BTTask::FAILURE;
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CHECK(seq->execute(0.01666) == BTTask::FAILURE);
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CHECK(task1->is_status_either(BTTask::SUCCESS, BTTask::FRESH));
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->is_status_either(BTTask::SUCCESS, BTTask::FRESH));
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CHECK_ENTRIES_TICKS_EXITS_UP_TO(task1, 1, 1, 1); // * ran no more than once
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 1); // * finishes - ticks and exits with FAILURE
CHECK_ENTRIES_TICKS_EXITS_UP_TO(task3, 1, 1, 1); // * ran no more than once
}
}
SUBCASE("Verify that tasks are executed in random order") {
task1->ret_status = BTTask::SUCCESS;
task2->ret_status = BTTask::SUCCESS;
task3->ret_status = BTTask::RUNNING;
int num_tries = 10;
bool is_confirmed = false;
while (!is_confirmed && num_tries--) {
CHECK(seq->execute(0.01666) == BTTask::RUNNING);
int checksum = 0;
if (task1->get_status() == BTTask::SUCCESS) {
checksum += 1;
}
if (task2->get_status() == BTTask::SUCCESS) {
checksum += 2;
}
if (task3->get_status() == BTTask::RUNNING) {
checksum += 4;
}
is_confirmed = (checksum != 7);
}
CHECK(is_confirmed);
}
}
TEST_CASE("[Modules][LimboAI] Empty BTRandomSequence returns SUCCESS") {
Ref<BTRandomSequence> seq = memnew(BTRandomSequence);
CHECK(seq->execute(0.01666) == BTTask::SUCCESS);
}
} //namespace TestRandomSequence
#endif // TEST_RANDOM_SEQUENCE_H