private static void TestSelectorOfSequences()
{
var bb = new BlackBoard();
var main = new SelectorTask("Main Selector");
var s1 = new SequenceTask("Sequence 1");
var s2 = new SequenceTask("Sequence 2");
var s3 = new SequenceTask("Sequence 3");
s1.AddChildTask(new TestSuccessLeaf("1"));
s1.AddChildTask(new TestSuccessLeaf("2"));
s1.AddChildTask(new AlwaysTrueTask(new TestFailureLeaf("3")));
s2.AddChildTask(new TestSuccessLeaf("1"));
s2.AddChildTask(new TestFailureLeaf("2"));
s2.AddChildTask(new TestSuccessLeaf("3"));
s3.AddChildTask(new TestSuccessLeaf("1"));
s3.AddChildTask(new TestSuccessLeaf("2"));
s3.AddChildTask(new TestSuccessLeaf("3"));
main.AddChildTask(s1);
main.AddChildTask(s2);
main.AddChildTask(s3);
SetTimer(main, bb);
}
private static void TestSimpleSequence()
{
var bb = new BlackBoard();
var sequence = new SequenceTask("Main Sequence");
sequence.AddChildTask(new TestSuccessLeaf("1"));
sequence.AddChildTask(new TestSuccessLeaf("2"));
sequence.AddChildTask(new TestSuccessLeaf("3"));
sequence.AddChildTask(new TestFailureLeaf("4"));
sequence.AddChildTask(new TestSuccessLeaf("5"));
SetTimer(sequence, bb);
}
private static void TestSequenceInSequence()
{
var bb = new BlackBoard();
var main = new SequenceTask("Main Sequence");
var s2 = new SequenceTask("Child Sequence");
main.AddChildTask(new TestSuccessLeaf("1"));
main.AddChildTask(new TestSuccessLeaf("2"));
main.AddChildTask(new TestSuccessLeaf("3"));
s2.AddChildTask(new TestSuccessLeaf("c 1"));
s2.AddChildTask(new TestSuccessLeaf("c 2"));
main.AddChildTask(s2);
main.AddChildTask(new TestSuccessLeaf("4"));
SetTimer(main, bb);
}