public void ShouldListenToEvents_WhenUsingChildBlackboard()
{
Blackboard rootBlackboard = new Blackboard(clock);
Blackboard blackboard = new Blackboard(rootBlackboard, clock);
// our mock nodes we want to query for status
MockNode firstChild = new MockNode(false); // false -> fail when aborted
MockNode secondChild = new MockNode(false);
// conditions for each subtree that listen the BB for events
BlackboardCondition firstCondition = new BlackboardCondition("branch1", Operator.IS_EQUAL, true, Stops.IMMEDIATE_RESTART, firstChild);
BlackboardCondition secondCondition = new BlackboardCondition("branch2", Operator.IS_EQUAL, true, Stops.IMMEDIATE_RESTART, secondChild);
// set up the tree
Selector selector = new Selector(firstCondition, secondCondition);
TestRoot behaviorTree = new TestRoot(blackboard, clock, selector);
// intially we want to activate branch2
rootBlackboard.Set("branch2", true);
// start the tree
behaviorTree.Start();
// tick the timer to ensure the blackboard notifies the nodes
clock.Update(0.1f);
// verify the second child is running
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, secondChild.CurrentState);
// change keys so the first conditions get true, too
rootBlackboard.Set("branch1", true);
// tick the timer to ensure the blackboard notifies the nodes
clock.Update(0.1f);
// now we should be in branch1
Assert.AreEqual(Node.State.ACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
}
public void ShouldNotActivateLowerPriorityBranchInCaseMultipleBranchesGetValid()
{
this.Timer = new Clock();
this.Blackboard = new Blackboard(Timer);
// our mock nodes we want to query for status
MockNode firstChild = new MockNode(false); // false -> fail when aborted
MockNode secondChild = new MockNode(false);
MockNode thirdChild = new MockNode(false);
// coniditions for each subtree that listen the BB for events
BlackboardCondition firstCondition = new BlackboardCondition("branch1", Operator.IS_EQUAL, true, Stops.IMMEDIATE_RESTART, firstChild);
BlackboardCondition secondCondition = new BlackboardCondition("branch2", Operator.IS_EQUAL, true, Stops.IMMEDIATE_RESTART, secondChild);
BlackboardCondition thirdCondtion = new BlackboardCondition("branch3", Operator.IS_EQUAL, true, Stops.IMMEDIATE_RESTART, thirdChild);
// set up the tree
Selector selector = new Selector(firstCondition, secondCondition, thirdCondtion);
TestRoot behaviorTree = new TestRoot(Blackboard, Timer, selector);
// intially we want to activate branch3
Blackboard.Set("branch3", true);
// start the tree
behaviorTree.Start();
// verify the third child is running
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, thirdChild.CurrentState);
Assert.AreEqual(0, firstChild.DebugNumStartCalls);
Assert.AreEqual(0, secondChild.DebugNumStartCalls);
Assert.AreEqual(1, thirdChild.DebugNumStartCalls);
// change keys so the first & second conditions get true, too
Blackboard.Set("branch1", true);
Blackboard.Set("branch2", true);
// still the third child should be active, as the blackboard didn't yet notifiy the nodes
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, thirdChild.CurrentState);
Assert.AreEqual(0, firstChild.DebugNumStartCalls);
Assert.AreEqual(0, secondChild.DebugNumStartCalls);
Assert.AreEqual(1, thirdChild.DebugNumStartCalls);
// tick the timer to ensure the blackboard notifies the nodes
Timer.Update(0.1f);
// now we should be in branch1
Assert.AreEqual(Node.State.ACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, thirdChild.CurrentState);
Assert.AreEqual(1, firstChild.DebugNumStartCalls);
Assert.AreEqual(0, secondChild.DebugNumStartCalls);
Assert.AreEqual(1, thirdChild.DebugNumStartCalls);
// disable first branch
Blackboard.Set("branch1", false);
Timer.Update(0.1f);
// and now the second branch should be active
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, secondChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, thirdChild.CurrentState);
Assert.AreEqual(1, firstChild.DebugNumStartCalls);
Assert.AreEqual(1, secondChild.DebugNumStartCalls);
Assert.AreEqual(1, thirdChild.DebugNumStartCalls);
}
private void DrawNode(Node node, int depth, bool connected)
{
float tStopRequested = Mathf.Lerp(0.85f, 0.25f, 2.0f * (Time.time - node.DebugLastStopRequestAt));
float tStopped = Mathf.Lerp(0.85f, 0.25f, 2.0f * (Time.time - node.DebugLastStoppedAt));
bool inactive = node.CurrentState != Node.State.ACTIVE;
float alpha = inactive ? Mathf.Max(0.35f, Mathf.Pow(tStopped, 1.5f)) : 1.0f;
bool failed = (tStopped > 0.25f && tStopped < 1.0f && !node.DebugLastResult && inactive);
bool stopRequested = (tStopRequested > 0.25f && tStopRequested < 1.0f && inactive);
EditorGUILayout.BeginHorizontal();
{
GUI.color = new Color(1f, 1f, 1f, alpha);
string tagName;
GUIStyle tagStyle = stopRequested ? nodeCapsuleStopRequested : (failed ? nodeCapsuleFailed : nodeCapsuleGray);
bool drawLabel = !string.IsNullOrEmpty(node.Label);
string label = node.Label;
if (node is BlackboardCondition)
{
BlackboardCondition nodeBlackboardCond = node as BlackboardCondition;
tagName = nodeBlackboardCond.Key + " " + operatorToString[nodeBlackboardCond.Operator] + " " + nodeBlackboardCond.Value;
GUI.backgroundColor = new Color(0.9f, 0.9f, 0.6f);
}
else
{
if (node is Composite)
{
GUI.backgroundColor = new Color(0.3f, 1f, 0.1f);
}
if (node is Decorator)
{
GUI.backgroundColor = new Color(0.3f, 1f, 1f);
}
if (node is Task)
{
GUI.backgroundColor = new Color(0.5f, 0.1f, 0.5f);
}
if (node is ObservingDecorator)
{
GUI.backgroundColor = new Color(0.9f, 0.9f, 0.6f);
}
nameToTagString.TryGetValue(node.Name, out tagName);
}
if ((node is Container) && ((Container)node).Collapse)
{
if (!drawLabel)
{
drawLabel = true;
label = tagName;
}
tagName = "...";
GUI.backgroundColor = new Color(0.4f, 0.4f, 0.4f);
}
if (string.IsNullOrEmpty(tagName))
{
tagName = node.Name;
}
if (!drawLabel)
{
GUILayout.Label(tagName, tagStyle);
}
else
{
GUILayout.Label("(" + tagName + ") " + label, tagStyle);
// Reset background color
GUI.backgroundColor = Color.white;
}
GUILayout.FlexibleSpace();
// Draw Buttons
if (node.CurrentState == Node.State.ACTIVE)
{
if (GUILayout.Button("stop", EditorStyles.miniButton))
{
node.Stop();
}
}
else if (node is Root)
{
GUI.color = new Color(1f, 1f, 1f, 1f);
if (GUILayout.Button("start", EditorStyles.miniButton))
{
node.Start();
}
GUI.color = new Color(1f, 1f, 1f, 0.3f);
}
// Draw Stats
GUILayout.Label((node.DebugNumStoppedCalls > 0 ? node.DebugLastResult.ToString() : "") + " | " + node.DebugNumStartCalls + " , " + node.DebugNumStopCalls + " , " + node.DebugNumStoppedCalls, smallTextStyle);
}
EditorGUILayout.EndHorizontal();
// Draw the lines
if (connected)
{
Rect rect = GUILayoutUtility.GetLastRect();
Handles.color = new Color(0f, 0f, 0f, 1f);
Handles.BeginGUI();
float midY = 4 + (rect.yMin + rect.yMax) / 2f;
Handles.DrawLine(new Vector2(rect.xMin - 5, midY), new Vector2(rect.xMin, midY));
Handles.EndGUI();
}
}