public void FailureTest()
{
BT_Failure failure = new BT_Failure();
ResultContainer result = failure.Next();
Assert.AreEqual(BT_Result.FAILURE, result.Result);
}
public void SequenceTest2()
{
// sequence algorithm test
//
// 1 __ success1 __ ex1
// root - sequence -|
// 2 --- failure __ ex2
// |
// 3 --- success2 --- ex3
//
// ex1 : should be activated once
// ex2 : should be activated twice
// ex3 : should not be activated
BT_Root root = new BT_Root();
BT_Sequence sequence = new BT_Sequence();
BT_Success success1 = new BT_Success();
BT_Success success2 = new BT_Success();
BT_Failure failure = new BT_Failure();
BT_Execute ex1 = new BT_Execute();
BT_Execute ex2 = new BT_Execute();
BT_Execute ex3 = new BT_Execute();
root.AddChild(sequence);
sequence.AddChild(success1);
sequence.AddChild(failure);
sequence.AddChild(success2);
success1.AddChild(ex1);
failure.AddChild(ex2);
success2.AddChild(ex3);
bool isOK1 = false, isOK2 = false, isOK3 = false;
ex1.AddEvent(() => {
isOK1 = !isOK1;
});
ex2.AddEvent(() => {
isOK2 = !isOK2;
});
ex3.AddEvent(() => {
isOK3 = !isOK3;
});
root.Next();
Assert.AreEqual(true, isOK1);
Assert.AreEqual(false, isOK2);
Assert.AreEqual(false, isOK3);
root.Next();
Assert.AreEqual(true, isOK1);
Assert.AreEqual(true, isOK2);
Assert.AreEqual(false, isOK3);
root.Next();
Assert.AreEqual(true, isOK1);
Assert.AreEqual(false, isOK2);
Assert.AreEqual(false, isOK3);
}
public void SelectorTest2()
{
// selector algorithm test
//
// 1 __ failure __ ex1
//root - selector -|
// 2 | -- ex2 -- succcess
// 3 ----ex3
//
// ex1 : should be activated
// ex2 : should be activated
// ex3 : should not be activated
BT_Root root = new BT_Root();
BT_Selector selector = new BT_Selector();
BT_Failure failure = new BT_Failure();
BT_Execute ex1 = new BT_Execute();
BT_Execute ex2 = new BT_Execute();
BT_Execute ex3 = new BT_Execute();
BT_Success success = new BT_Success();
root.AddChild(selector);
selector.AddChild(failure);
selector.AddChild(ex2);
selector.AddChild(ex3);
failure.AddChild(ex1);
ex2.AddChild(success);
bool isOK1 = false, isOK2 = false, isOK3 = true;
ex1.AddEvent(() => {
isOK1 = true;
});
ex2.AddEvent(() => {
isOK2 = true;
});
ex3.AddEvent(() => {
isOK3 = false;
});
root.Next();
Assert.AreEqual(true, isOK1);
Assert.AreEqual(true, isOK2);
Assert.AreEqual(true, isOK3);
}
public void SelectorTest1()
{
// selector stopable test
//
// 1 _ failure1 _ ex1
//root - selector-|
// 2 - failure2 - ex2
//
// ex1: should be activated
// ex2: should be activated
bool isOK1 = false;
bool isOK2 = false;
BT_Root root = new BT_Root();
BT_Selector s = new BT_Selector();
BT_Failure failure1 = new BT_Failure();
s.AddChild(failure1);
BT_Failure failure2 = new BT_Failure();
s.AddChild(failure2);
BT_Execute ex1 = new BT_Execute();
ex1.AddEvent(() => {
isOK1 = true;
});
failure1.AddChild(ex1);
BT_Execute ex2 = new BT_Execute();
ex2.AddEvent(() => {
isOK2 = true;
});
failure2.AddChild(ex2);
root.AddChild(s);
root.Next();
Assert.AreEqual(true, isOK1);
Assert.AreEqual(true, isOK2);
}
