limboai/tests/test_sequence.h

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/**
* test_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_SEQUENCE_H
#define TEST_SEQUENCE_H
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#include "limbo_test.h"
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#include "modules/limboai/bt/tasks/bt_task.h"
#include "modules/limboai/bt/tasks/composites/bt_sequence.h"
namespace TestSequence {
TEST_CASE("[Modules][LimboAI] BTSequence when all return SUCCESS") {
Ref<BTSequence> seq = memnew(BTSequence);
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);
// * First execution.
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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);
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1);
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// * Second execution.
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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, 2, 2, 2);
CHECK_ENTRIES_TICKS_EXITS(task2, 2, 2, 2);
CHECK_ENTRIES_TICKS_EXITS(task3, 2, 2, 2);
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}
TEST_CASE("[Modules][LimboAI] BTSequence when second returns FAILURE") {
Ref<BTSequence> seq = memnew(BTSequence);
Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::SUCCESS));
Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::FAILURE));
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);
// * First execution.
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CHECK(seq->execute(0.01666) == BTTask::FAILURE);
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CHECK(task1->get_status() == BTTask::SUCCESS);
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->get_status() == BTTask::FRESH);
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CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);
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// * Second execution.
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CHECK(seq->execute(0.01666) == BTTask::FAILURE);
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CHECK(task1->get_status() == BTTask::SUCCESS);
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->get_status() == BTTask::FRESH);
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CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2);
CHECK_ENTRIES_TICKS_EXITS(task2, 2, 2, 2);
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);
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}
TEST_CASE("[Modules][LimboAI] BTSequence when second returns RUNNING") {
Ref<BTSequence> seq = memnew(BTSequence);
Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::SUCCESS));
Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::RUNNING));
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);
// * First execution.
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CHECK(seq->execute(0.01666) == BTTask::RUNNING);
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CHECK(task1->get_status() == BTTask::SUCCESS);
CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->get_status() == BTTask::FRESH);
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CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 0);
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);
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// * Second execution.
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CHECK(seq->execute(0.01666) == BTTask::RUNNING);
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CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 2, 0);
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);
// * Third execution with second task returning SUCCESS.
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);
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 3, 1);
CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1);
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}
TEST_CASE("[Modules][LimboAI] BTSequence with no child tasks") {
Ref<BTSequence> seq = memnew(BTSequence);
REQUIRE(seq->get_child_count() == 0);
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CHECK(seq->execute(0.01666) == BTTask::SUCCESS);
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}
} //namespace TestSequence
#endif // TEST_SEQUENCE_H