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);
}
public TaskStatus SelectorWithOneChildAfterOneTickReturns(TaskStatus taskStatus)
{
var task = new StatusActionTask(taskStatus);
var sequenceTask = new SelectorTask(new List <ITask> {
task
});
return(sequenceTask.Tick());
}
public void SelectorContinuesToReturnResultAfterMultipleTicks(
[Values(TaskStatus.Success, TaskStatus.Failure)] TaskStatus taskStatus)
{
var task = new StatusActionTask(taskStatus);
var sequenceTask = new SelectorTask(new List <ITask> {
task
});
Assert.AreEqual(taskStatus, sequenceTask.Tick());
Assert.AreEqual(taskStatus, sequenceTask.Tick());
Assert.AreEqual(taskStatus, sequenceTask.Tick());
}
public void SelectorWithMultipleChildrenReturningSuccessReturnsSuccessImmediately()
{
var childTasks = new List <ITask>();
childTasks.Add(new StatusActionTask(TaskStatus.Success));
childTasks.Add(new StatusActionTask(TaskStatus.Success));
childTasks.Add(new StatusActionTask(TaskStatus.Success));
childTasks.Add(new StatusActionTask(TaskStatus.Success));
var selectorTask = new SelectorTask(childTasks);
Assert.AreEqual(TaskStatus.Success, selectorTask.Tick());
}
public void SelectorWithAllChildrenIncompleteReturnsIncomplete()
{
var childTasks = new List <ITask>();
childTasks.Add(new StatusActionTask(TaskStatus.Incomplete));
childTasks.Add(new StatusActionTask(TaskStatus.Incomplete));
childTasks.Add(new StatusActionTask(TaskStatus.Incomplete));
var selectorTask = new SelectorTask(childTasks);
Assert.AreEqual(TaskStatus.Incomplete, selectorTask.Tick());
Assert.AreEqual(TaskStatus.Incomplete, selectorTask.Tick());
Assert.AreEqual(TaskStatus.Incomplete, selectorTask.Tick());
}
private static void TestSimpleSelector()
{
var bb = new BlackBoard();
var selector = new SelectorTask("Main Sequence");
selector.AddChildTask(new TestFailureLeaf("Fail 1"));
selector.AddChildTask(new TestFailureLeaf("Fail 2"));
selector.AddChildTask(new TestSuccessLeaf("Success 3"));
selector.AddChildTask(new TestFailureLeaf("Fail 4"));
selector.AddChildTask(new TestFailureLeaf("Fail 5"));
SetTimer(selector, bb);
}
public void SelectorWithChildReturningSuccessReturnsSuccessAfterThatChildIsTicked()
{
var childTasks = new List <ITask>();
childTasks.Add(new StatusActionTask(TaskStatus.Failure));
childTasks.Add(new StatusActionTask(TaskStatus.Failure));
childTasks.Add(new StatusActionTask(TaskStatus.Failure));
childTasks.Add(new StatusActionTask(TaskStatus.Success));
childTasks.Add(new StatusActionTask(TaskStatus.Success));
childTasks.Add(new StatusActionTask(TaskStatus.Success));
var selectorTask = new SelectorTask(childTasks);
Assert.AreEqual(TaskStatus.Incomplete, selectorTask.Tick());
Assert.AreEqual(TaskStatus.Incomplete, selectorTask.Tick());
Assert.AreEqual(TaskStatus.Incomplete, selectorTask.Tick());
Assert.AreEqual(TaskStatus.Success, selectorTask.Tick());
}
protected override BehaviorTask createTask()
{
SelectorTask pTask = new SelectorTask();
return(pTask);
}
protected override BehaviorTask createTask()
{
SelectorTask pTask = new SelectorTask();
return pTask;
}
