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test_selector.h
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/**
* test_selector.h
* =============================================================================
* Copyright (c) 2023-present Serhii Snitsaruk and the LimboAI contributors.
*
* 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_SELECTOR_H
#define TEST_SELECTOR_H
#include "limbo_test.h"
#include "modules/limboai/bt/tasks/bt_task.h"
#include "modules/limboai/bt/tasks/composites/bt_selector.h"
namespace TestSelector {
TEST_CASE("[Modules][LimboAI] BTSelector when all return FAILURE") {
Ref<BTSelector> sel = memnew(BTSelector);
Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::FAILURE));
Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::FAILURE));
Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::FAILURE));
sel->add_child(task1);
sel->add_child(task2);
sel->add_child(task3);
REQUIRE(sel->get_child_count() == 3);
// * First execution.
CHECK(sel->execute(0.01666) == BTTask::FAILURE);
CHECK(task1->get_status() == BTTask::FAILURE);
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->get_status() == BTTask::FAILURE);
CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1);
// * Second execution.
CHECK(sel->execute(0.01666) == BTTask::FAILURE);
CHECK(task1->get_status() == BTTask::FAILURE);
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->get_status() == BTTask::FAILURE);
CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2);
CHECK_ENTRIES_TICKS_EXITS(task2, 2, 2, 2);
CHECK_ENTRIES_TICKS_EXITS(task3, 2, 2, 2);
}
TEST_CASE("[Modules][LimboAI] BTSelector when second returns SUCCESS") {
Ref<BTSelector> sel = memnew(BTSelector);
Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::FAILURE));
Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::SUCCESS));
Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::FAILURE));
sel->add_child(task1);
sel->add_child(task2);
sel->add_child(task3);
REQUIRE(sel->get_child_count() == 3);
// * First execution.
CHECK(sel->execute(0.01666) == BTTask::SUCCESS);
CHECK(task1->get_status() == BTTask::FAILURE);
CHECK(task2->get_status() == BTTask::SUCCESS);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);
// * Second execution.
CHECK(sel->execute(0.01666) == BTTask::SUCCESS);
CHECK(task1->get_status() == BTTask::FAILURE);
CHECK(task2->get_status() == BTTask::SUCCESS);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK_ENTRIES_TICKS_EXITS(task1, 2, 2, 2);
CHECK_ENTRIES_TICKS_EXITS(task2, 2, 2, 2);
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);
}
TEST_CASE("[Modules][LimboAI] BTSelector when second returns RUNNING") {
Ref<BTSelector> sel = memnew(BTSelector);
Ref<BTTestAction> task1 = memnew(BTTestAction(BTTask::FAILURE));
Ref<BTTestAction> task2 = memnew(BTTestAction(BTTask::RUNNING));
Ref<BTTestAction> task3 = memnew(BTTestAction(BTTask::FAILURE));
sel->add_child(task1);
sel->add_child(task2);
sel->add_child(task3);
REQUIRE(sel->get_child_count() == 3);
// * First execution.
CHECK(sel->execute(0.01666) == BTTask::RUNNING);
CHECK(task1->get_status() == BTTask::FAILURE);
CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->get_status() == BTTask::FRESH);
CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 1, 0);
CHECK_ENTRIES_TICKS_EXITS(task3, 0, 0, 0);
// * Second execution.
CHECK(sel->execute(0.01666) == BTTask::RUNNING);
CHECK(task1->get_status() == BTTask::FAILURE);
CHECK(task2->get_status() == BTTask::RUNNING);
CHECK(task3->get_status() == BTTask::FRESH);
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 FAILURE.
task2->ret_status = BTTask::FAILURE;
CHECK(sel->execute(0.01666) == BTTask::FAILURE);
CHECK(task1->get_status() == BTTask::FAILURE);
CHECK(task2->get_status() == BTTask::FAILURE);
CHECK(task3->get_status() == BTTask::FAILURE);
CHECK_ENTRIES_TICKS_EXITS(task1, 1, 1, 1);
CHECK_ENTRIES_TICKS_EXITS(task2, 1, 3, 1);
CHECK_ENTRIES_TICKS_EXITS(task3, 1, 1, 1);
}
} //namespace TestSelector
#endif // TEST_SELECTOR_H