public void ResumesFromRunning()
{
// three children: success, running, other
// index should continue after success and tick running
// index should not restart after running and success should not be ticked again
// halts should not be called on incomplete sequences
var alwaysSuccessChild = new ReturnXNode(NodeStatus.SUCCESS);
var alwaysRunningChild = new ReturnXNode(NodeStatus.RUNNING);
var otherChild = new ReturnXNode(NodeStatus.SUCCESS);
var node = new SequenceWithMemoryNode(new List <INode>
{
alwaysSuccessChild,
alwaysRunningChild,
otherChild,
});
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.RUNNING));
Assert.That(alwaysSuccessChild.Ticks, Is.EqualTo(1));
Assert.That(alwaysRunningChild.Ticks, Is.EqualTo(1));
Assert.That(otherChild.Ticks, Is.EqualTo(0));
Assert.That(alwaysSuccessChild.Halts, Is.EqualTo(0));
Assert.That(alwaysRunningChild.Halts, Is.EqualTo(0));
Assert.That(otherChild.Halts, Is.EqualTo(0));
status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.RUNNING));
Assert.That(alwaysSuccessChild.Ticks, Is.EqualTo(1));
Assert.That(alwaysRunningChild.Ticks, Is.EqualTo(2));
Assert.That(otherChild.Ticks, Is.EqualTo(0));
Assert.That(alwaysSuccessChild.Halts, Is.EqualTo(0));
Assert.That(alwaysRunningChild.Halts, Is.EqualTo(0));
Assert.That(otherChild.Halts, Is.EqualTo(0));
}
public void ContinuesAfterSuccess()
{
// three children: success, failure, other
// index should continue after success and tick failure
// index should restart after failure and success should be ticked again
// halt should be called on all children after each failure
var alwaysSuccessChild = new ReturnXNode(NodeStatus.SUCCESS);
var alwaysFailureChild = new ReturnXNode(NodeStatus.FAILURE);
var otherChild = new ReturnXNode(NodeStatus.SUCCESS);
var node = new SequenceWithMemoryNode(new List <INode>
{
alwaysSuccessChild,
alwaysFailureChild,
otherChild,
});
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.FAILURE));
Assert.That(alwaysSuccessChild.Ticks, Is.EqualTo(1));
Assert.That(alwaysFailureChild.Ticks, Is.EqualTo(1));
Assert.That(otherChild.Ticks, Is.EqualTo(0));
Assert.That(alwaysSuccessChild.Halts, Is.EqualTo(1));
Assert.That(alwaysFailureChild.Halts, Is.EqualTo(1));
Assert.That(otherChild.Halts, Is.EqualTo(1));
status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.FAILURE));
Assert.That(alwaysSuccessChild.Ticks, Is.EqualTo(2));
Assert.That(alwaysFailureChild.Ticks, Is.EqualTo(2));
Assert.That(otherChild.Ticks, Is.EqualTo(0));
Assert.That(alwaysSuccessChild.Halts, Is.EqualTo(2));
Assert.That(alwaysFailureChild.Halts, Is.EqualTo(2));
Assert.That(otherChild.Halts, Is.EqualTo(2));
}
public void NoChildrenReturnsSuccess()
{
var node = new SequenceWithMemoryNode(new INode[0]);
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.SUCCESS));
}
public void AllChildrenSucceed()
{
// a successful sequence returns success
// halt should be called when the sequence completes
var children = Enumerable
.Range(0, 10)
.Select(_ => new ReturnXNode(NodeStatus.SUCCESS))
.ToArray();
var node = new SequenceWithMemoryNode(children);
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.SUCCESS));
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 sequence is incomplete, halt should not be called yet
var alwaysRunningChild = new ReturnXNode(NodeStatus.RUNNING);
var otherChild = new ReturnXNode(NodeStatus.SUCCESS);
var node = new SequenceWithMemoryNode(new List <INode>
{
alwaysRunningChild,
otherChild,
});
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.RUNNING));
Assert.That(alwaysRunningChild.Ticks, Is.EqualTo(1));
Assert.That(otherChild.Ticks, Is.EqualTo(0));
Assert.That(alwaysRunningChild.Halts, Is.EqualTo(0));
Assert.That(otherChild.Halts, Is.EqualTo(0));
}
public void ChildrenAfterFailureNotTicked()
{
// two children, one that always fails and another
// the other should never be ticked
// halt should be called on all children after a failure
var alwaysFailureChild = new ReturnXNode(NodeStatus.FAILURE);
var otherChild = new ReturnXNode(NodeStatus.SUCCESS);
var node = new SequenceWithMemoryNode(new List <INode>
{
alwaysFailureChild,
otherChild,
});
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.FAILURE));
Assert.That(alwaysFailureChild.Ticks, Is.EqualTo(1));
Assert.That(otherChild.Ticks, Is.EqualTo(0));
Assert.That(alwaysFailureChild.Halts, Is.EqualTo(1));
Assert.That(otherChild.Halts, Is.EqualTo(1));
}
public void AllChildrenFail()
{
// a failing sequence should return failure
// halt should be called when a sequence fails
var children = Enumerable
.Range(0, 10)
.Select(_ => new ReturnXNode(NodeStatus.FAILURE))
.ToArray();
var node = new SequenceWithMemoryNode(children);
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.FAILURE));
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));
}
}
public void RestartsAfterHalt()
{
// sequence should restart from beginning when halted while still running
var alwaysSuccessChild = new ReturnXNode(NodeStatus.SUCCESS);
var alwaysRunningChild = new ReturnXNode(NodeStatus.RUNNING);
var otherChild = new ReturnXNode(NodeStatus.SUCCESS);
var node = new SequenceWithMemoryNode(new List <INode>
{
alwaysSuccessChild,
alwaysRunningChild,
otherChild,
});
// starts at the beginning
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.RUNNING));
Assert.That(alwaysSuccessChild.Ticks, Is.EqualTo(1));
Assert.That(alwaysRunningChild.Ticks, Is.EqualTo(1));
Assert.That(otherChild.Ticks, Is.EqualTo(0));
// resumes from running child
status = node.Tick();
Assert.That(alwaysSuccessChild.Ticks, Is.EqualTo(1));
Assert.That(alwaysRunningChild.Ticks, Is.EqualTo(2));
Assert.That(otherChild.Ticks, Is.EqualTo(0));
node.Halt();
Assert.That(alwaysSuccessChild.Halts, Is.EqualTo(1));
Assert.That(alwaysRunningChild.Halts, Is.EqualTo(1));
Assert.That(otherChild.Halts, Is.EqualTo(1));
// restarts at the beginning
status = node.Tick();
Assert.That(alwaysSuccessChild.Ticks, Is.EqualTo(2));
Assert.That(alwaysRunningChild.Ticks, Is.EqualTo(3));
Assert.That(otherChild.Ticks, Is.EqualTo(0));
}