public void ShouldStartAllChildrenInParallel()
{
Parallel.Policy successPolicy = Parallel.Policy.ONE;
Parallel.Policy failurePolicy = Parallel.Policy.ONE;
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, firstChild.CurrentState);
}
public void StopLowerPriorityChildrenForChild_WithoutImmediateRestart_ShouldThrowError()
{
Parallel.Policy failurePolicy = Parallel.Policy.ALL;
Parallel.Policy successPolicy = Parallel.Policy.ALL;
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(false);
sut.StopLowerPriorityChildrenForChild(firstChild, false);
}
public void ShouldSucceed_WhenNotAllChildrenFailed_AndFailPolicyAll_AndSucessPolicyOne()
{
Parallel.Policy failurePolicy = Parallel.Policy.ALL;
Parallel.Policy successPolicy = Parallel.Policy.ONE;
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(false);
secondChild.Finish(true);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsTrue(behaviorTree.WasSuccess);
}
public void StopLowerPriorityChildrenForChild_WithImmediateRestart_ShouldRestartChild()
{
Parallel.Policy failurePolicy = Parallel.Policy.ALL;
Parallel.Policy successPolicy = Parallel.Policy.ALL;
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(false);
sut.StopLowerPriorityChildrenForChild(firstChild, true);
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, secondChild.CurrentState);
}
public void ShouldFail_WhenAllChildrenFailed_AndFailPolicyAll()
{
Parallel.Policy failurePolicy = Parallel.Policy.ALL;
foreach (Parallel.Policy successPolicy in ALL_SUCCESS_POLICIES)
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(false);
secondChild.Finish(false);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsFalse(behaviorTree.WasSuccess);
}
}
public void ShouldSucceed_WhenOneChildSuccessful_AndSuccessPolicyOne()
{
Parallel.Policy successPolicy = Parallel.Policy.ONE;
foreach (Parallel.Policy failurePolicy in ALL_FAILURE_POLICIES)
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode(false);
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(true);
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsTrue(behaviorTree.WasSuccess);
}
}
public void StopLowerPriorityChildrenForChild_WithoutImmediateRestart_ShouldThrowError()
{
Parallel.Policy failurePolicy = Parallel.Policy.ALL;
Parallel.Policy successPolicy = Parallel.Policy.ALL;
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(false);
bool bExceptionCought = false;
try {
sut.StopLowerPriorityChildrenForChild(firstChild, false);
} catch (Exception) {
bExceptionCought = true;
}
Assert.AreEqual(bExceptionCought, true);
}
