public void ResumesFromRunning()
{
// three children: failure, running, other
// index should continue after failure and tick running
// index should not restart after running and failure should not be ticked again
// halts should not be called on incomplete fallbacks
var failure = new ReturnXNode(NodeStatus.FAILURE);
var running = new ReturnXNode(NodeStatus.RUNNING);
var other = new ReturnXNode(NodeStatus.SUCCESS);
var node = new FallbackWithMemoryNode(new List <INode>
{
failure,
running,
other,
});
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.RUNNING));
Assert.That(failure.Ticks, Is.EqualTo(1));
Assert.That(running.Ticks, Is.EqualTo(1));
Assert.That(other.Ticks, Is.EqualTo(0));
Assert.That(failure.Halts, Is.EqualTo(0));
Assert.That(running.Halts, Is.EqualTo(0));
Assert.That(other.Halts, Is.EqualTo(0));
status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.RUNNING));
Assert.That(failure.Ticks, Is.EqualTo(1));
Assert.That(running.Ticks, Is.EqualTo(2));
Assert.That(other.Ticks, Is.EqualTo(0));
Assert.That(failure.Halts, Is.EqualTo(0));
Assert.That(running.Halts, Is.EqualTo(0));
Assert.That(other.Halts, Is.EqualTo(0));
}
public void RestartsAfterSuccess()
{
// three children: failure, success, other
// index should continue after failure and tick success
// index should restart after success and failure should be ticked again
// halt should be called on all children after each success
var failure = new ReturnXNode(NodeStatus.FAILURE);
var success = new ReturnXNode(NodeStatus.SUCCESS);
var other = new ReturnXNode(NodeStatus.SUCCESS);
var node = new FallbackWithMemoryNode(new List <INode>
{
failure,
success,
other,
});
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.SUCCESS));
Assert.That(failure.Ticks, Is.EqualTo(1));
Assert.That(success.Ticks, Is.EqualTo(1));
Assert.That(other.Ticks, Is.EqualTo(0));
Assert.That(success.Halts, Is.EqualTo(1));
Assert.That(failure.Halts, Is.EqualTo(1));
Assert.That(other.Halts, Is.EqualTo(1));
status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.SUCCESS));
Assert.That(failure.Ticks, Is.EqualTo(2));
Assert.That(success.Ticks, Is.EqualTo(2));
Assert.That(other.Ticks, Is.EqualTo(0));
Assert.That(success.Halts, Is.EqualTo(2));
Assert.That(failure.Halts, Is.EqualTo(2));
Assert.That(other.Halts, Is.EqualTo(2));
}
public void NoChildrenReturnsFailure()
{
var node = new FallbackWithMemoryNode(Array.Empty <INode>());
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.FAILURE));
}
public void RestartsAfterHalt()
{
// fallback should restart from beginning when halted while still running
var failure = new ReturnXNode(NodeStatus.FAILURE);
var running = new ReturnXNode(NodeStatus.RUNNING);
var other = new ReturnXNode(NodeStatus.SUCCESS);
var node = new FallbackWithMemoryNode(new List <INode>
{
failure,
running,
other,
});
// starts at the beginning
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.RUNNING));
Assert.That(failure.Ticks, Is.EqualTo(1));
Assert.That(running.Ticks, Is.EqualTo(1));
Assert.That(other.Ticks, Is.EqualTo(0));
// resumes from running child
node.Tick();
Assert.That(failure.Ticks, Is.EqualTo(1));
Assert.That(running.Ticks, Is.EqualTo(2));
Assert.That(other.Ticks, Is.EqualTo(0));
node.Halt();
Assert.That(failure.Halts, Is.EqualTo(1));
Assert.That(running.Halts, Is.EqualTo(1));
Assert.That(other.Halts, Is.EqualTo(1));
// restarts at the beginning
node.Tick();
Assert.That(failure.Ticks, Is.EqualTo(2));
Assert.That(running.Ticks, Is.EqualTo(3));
Assert.That(other.Ticks, Is.EqualTo(0));
}
public void AllChildrenFail()
{
// a failing fallback should return failure
// halt should be called when a fallback fails
var children = Enumerable
.Range(0, 10)
.Select(_ => new ReturnXNode(NodeStatus.FAILURE))
.ToArray();
var node = new FallbackWithMemoryNode(children);
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.FAILURE));
foreach (var child in children)
{
Assert.That(child.Ticks, Is.EqualTo(1));
Assert.That(child.Halts, Is.EqualTo(1));
}
}
public void ChildrenAfterRunningNotTicked()
{
// two children, one that returns running and another
// the other should never be ticked
// since the fallback is incomplete, halt should not be called yet
var running = new ReturnXNode(NodeStatus.RUNNING);
var other = new ReturnXNode(NodeStatus.SUCCESS);
var node = new FallbackWithMemoryNode(new List <INode>
{
running,
other,
});
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.RUNNING));
Assert.That(running.Ticks, Is.EqualTo(1));
Assert.That(other.Ticks, Is.EqualTo(0));
Assert.That(running.Halts, Is.EqualTo(0));
Assert.That(other.Halts, Is.EqualTo(0));
}
public void ChildrenAfterSuccessNotTicked()
{
// two children, one that always succeeds and another
// the other should never be ticked
// halt should be called on all children after a success
var success = new ReturnXNode(NodeStatus.SUCCESS);
var other = new ReturnXNode(NodeStatus.SUCCESS);
var node = new FallbackWithMemoryNode(new List <INode>
{
success,
other,
});
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.SUCCESS));
Assert.That(success.Ticks, Is.EqualTo(1));
Assert.That(other.Ticks, Is.EqualTo(0));
Assert.That(success.Halts, Is.EqualTo(1));
Assert.That(other.Halts, Is.EqualTo(1));
}
public void AllChildrenSucceed()
{
// a single successful child in a fallback should return success
// a successful fallback should halt all children
var children = Enumerable
.Range(0, 10)
.Select(_ => new ReturnXNode(NodeStatus.SUCCESS))
.ToArray();
var node = new FallbackWithMemoryNode(children);
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.SUCCESS));
for (int i = 0; i < children.Length; i++)
{
var child = children[i];
var expectedTicks = i == 0 ? 1 : 0;
Assert.That(child.Ticks, Is.EqualTo(expectedTicks));
Assert.That(child.Halts, Is.EqualTo(1));
}
}