public void ShouldSucceedAndSetCooldown_WhenDecorateeSucceeds()
{
MockNode child = new MockNode();
Cooldown sut = new Cooldown(1, child);
TestRoot behaviorTree = CreateBehaviorTree(sut);
// start
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
// make child suceed
child.Finish(true);
// ensure we're stopped
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
// start again
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
// ensure the child has not been started ( due to cooldown )
Assert.AreEqual(Node.State.INACTIVE, child.CurrentState);
// advance clock past cooldown and check that the child has been activated
behaviorTree.Clock.Update(2.0f);
Assert.AreEqual(Node.State.ACTIVE, child.CurrentState);
}
public void ShouldSucceed_WhenFirstChildSuccessful()
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
RandomSelector sut = new RandomSelector(firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
MockNode firstActiveChild = sut.DebugGetActiveChild() as MockNode;
MockNode inactiveChild = firstActiveChild == firstChild ? secondChild : firstChild;
Assert.IsNotNull(firstActiveChild);
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, firstActiveChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, inactiveChild.CurrentState);
firstActiveChild.Finish(true);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsTrue(behaviorTree.WasSuccess);
}
public void ShouldSucceedAndSetCooldownRightAway_WhenDecorateeSucceeds()
{
MockNode child = new MockNode();
Cooldown sut = new Cooldown(1, child);
TestRoot behaviorTree = CreateBehaviorTree(sut);
// start
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
// wait 1.5 seconds
behaviorTree.Clock.Update(1.5f);
// make child suceed
child.Finish(true);
// ensure we're stopped
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
// start again
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
// ensure the child has been started as well ( due to cooldown )
Assert.AreEqual(Node.State.ACTIVE, child.CurrentState);
}
public void StopLowerPriorityChildrenForChild_WithImmediateRestart_ShouldNotRestartFirstChild_WhenSecondChildFails()
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode(false);
RandomSequence sut = new RandomSequence(firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
// TODO: will we keep the priority or will we switch to the priority defined by the randomized children?
RandomSequence.DebugSetSeed(2);
behaviorTree.Start();
firstChild.Finish(true);
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, secondChild.CurrentState);
sut.StopLowerPriorityChildrenForChild(firstChild, true);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsFalse(behaviorTree.WasSuccess);
}
public void ShouldProcceedToSecondChild_WhenFirstChildSucceeded()
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Sequence sut = new Sequence(firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
firstChild.Finish(true);
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, secondChild.CurrentState);
secondChild.Finish(false);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsFalse(behaviorTree.WasSuccess);
}
public void ShouldFail_WhenFirstChildFails()
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
RandomSequence sut = new RandomSequence(firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
MockNode activeChild = sut.DebugGetActiveChild() as MockNode;
Assert.NotNull(activeChild);
MockNode inactiveChild = activeChild == firstChild ? secondChild : firstChild;
Assert.AreEqual(Node.State.ACTIVE, activeChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, inactiveChild.CurrentState);
activeChild.Finish(false);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsFalse(behaviorTree.WasSuccess);
}
public void ShouldFailInsteadOfWait_WhenCooldownActive_DueToParameter()
{
MockNode child = new MockNode();
Cooldown sut = new Cooldown(1, false, false, true, child);
TestRoot behaviorTree = CreateBehaviorTree(sut);
// start
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
// make child suceed
child.Finish(true);
// ensure we're stopped
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
// start again
behaviorTree.Start();
// ensure that neither this node nor the child has not been started ( due to cooldown )
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, child.CurrentState);
// advance clock past cooldown, start the tree again and check that we could be activated again
behaviorTree.Clock.Update(2.0f);
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, child.CurrentState);
}
public void ShouldSucceed_WhenDecorateeSucceededGivenTimes()
{
MockNode succeedingChild = new MockNode();
Repeater sut = new Repeater(3, succeedingChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
for (int i = 0; i < 2; i++)
{
succeedingChild.Finish(true);
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
Assert.IsFalse(behaviorTree.DidFinish);
Timer.Update(0.01f);
}
succeedingChild.Finish(true);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsTrue(behaviorTree.WasSuccess);
}
public void StopLowerPriorityChildrenForChild_WithoutImmediateRestart_ShouldThrowError()
{
Parallel.Policy failurePolicy = Parallel.Policy.ALL;
Parallel.Policy successPolicy = Parallel.Policy.ALL;
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(false);
sut.StopLowerPriorityChildrenForChild(firstChild, false);
}
public void ShouldNotLeaveObserversRegistered_WhenInactive()
{
MockNode child = new MockNode();
Repeater sut = new Repeater(-1, child);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
child.Finish(true);
Assert.AreEqual(1, behaviorTree.Clock.NumTimers);
Assert.AreEqual(0, behaviorTree.Clock.NumUpdateObservers);
Timer.Update(0.01f);
child.Finish(false);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsFalse(behaviorTree.WasSuccess);
Assert.AreEqual(0, behaviorTree.Clock.NumTimers);
Assert.AreEqual(0, behaviorTree.Clock.NumUpdateObservers);
}
public void ShouldFail_WhenDecorateeFails()
{
MockNode failingChild = new MockNode();
Repeater sut = new Repeater(-1, failingChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
failingChild.Finish(false);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsFalse(behaviorTree.WasSuccess);
}
public void ShouldSucceed_WhenSingleChildSucceeds()
{
MockNode succeedingChild = new MockNode();
Sequence sut = new Sequence(succeedingChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
succeedingChild.Finish(true);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsTrue(behaviorTree.WasSuccess);
}
public void ShouldSucceed_WhenNotAllChildrenFailed_AndFailPolicyAll_AndSucessPolicyOne()
{
Parallel.Policy failurePolicy = Parallel.Policy.ALL;
Parallel.Policy successPolicy = Parallel.Policy.ONE;
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(false);
secondChild.Finish(true);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsTrue(behaviorTree.WasSuccess);
}
public void StopLowerPriorityChildrenForChild_WithImmediateRestart_ShouldRestartChild()
{
Parallel.Policy failurePolicy = Parallel.Policy.ALL;
Parallel.Policy successPolicy = Parallel.Policy.ALL;
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(false);
sut.StopLowerPriorityChildrenForChild(firstChild, true);
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, secondChild.CurrentState);
}
public void ShouldFail_WhenAllChildrenFailed_AndFailPolicyAll()
{
Parallel.Policy failurePolicy = Parallel.Policy.ALL;
foreach (Parallel.Policy successPolicy in ALL_SUCCESS_POLICIES)
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(false);
secondChild.Finish(false);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsFalse(behaviorTree.WasSuccess);
}
}
public void ShouldSucceed_WhenOneChildSuccessful_AndSuccessPolicyOne()
{
Parallel.Policy successPolicy = Parallel.Policy.ONE;
foreach (Parallel.Policy failurePolicy in ALL_FAILURE_POLICIES)
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode(false);
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(true);
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsTrue(behaviorTree.WasSuccess);
}
}
public void ShouldWaitForNextUpdate_WhenDecorateeSucceedsImmediately()
{
MockNode succeedingChild = new MockNode();
Repeater sut = new Repeater(-1, succeedingChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
succeedingChild.Finish(true);
// the child should not have been immediately restarted
Assert.AreEqual(Node.State.INACTIVE, succeedingChild.CurrentState);
// after update it's ok to have
Timer.Update(0.01f);
Assert.AreEqual(Node.State.ACTIVE, succeedingChild.CurrentState);
Assert.IsFalse(behaviorTree.DidFinish);
}
public void StopLowerPriorityChildrenForChild_WithImmediateRestart_ShouldRestartFirstChild_WhenSecondChildSucceeds()
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode(true);
Sequence sut = new Sequence(firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(true);
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, secondChild.CurrentState);
sut.StopLowerPriorityChildrenForChild(firstChild, true);
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.IsFalse(behaviorTree.DidFinish);
}
public void ShouldSucceed_WhenSingleChildSucceeds()
{
foreach (Parallel.Policy sucessPolicy in ALL_SUCCESS_POLICIES)
{
foreach (Parallel.Policy failurePolicy in ALL_FAILURE_POLICIES)
{
MockNode succeedingChild = new MockNode();
Parallel sut = new Parallel(sucessPolicy, failurePolicy, succeedingChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
succeedingChild.Finish(true);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsTrue(behaviorTree.WasSuccess);
}
}
}
public void StopLowerPriorityChildrenForChild_WithoutImmediateRestart_ShouldThrowError()
{
Parallel.Policy failurePolicy = Parallel.Policy.ALL;
Parallel.Policy successPolicy = Parallel.Policy.ALL;
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Parallel sut = new Parallel(successPolicy, failurePolicy, firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(false);
bool bExceptionCought = false;
try {
sut.StopLowerPriorityChildrenForChild(firstChild, false);
} catch (Exception) {
bExceptionCought = true;
}
Assert.AreEqual(bExceptionCought, true);
}
public void StopLowerPriorityChildrenForChild_WithoutImmediateRestart_ShouldCancelSecondChild()
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Selector sut = new Selector(firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
firstChild.Finish(false);
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, secondChild.CurrentState);
sut.StopLowerPriorityChildrenForChild(firstChild, false);
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.IsFalse(behaviorTree.WasSuccess);
}
public void ShouldSucceedButSetCooldownAfterDecorator_WhenDecorateeSucceeds_DueToParameter()
{
MockNode child = new MockNode();
Cooldown sut = new Cooldown(1, true, false, false, child);
TestRoot behaviorTree = CreateBehaviorTree(sut);
// start
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
// wait 1.5 seconds
behaviorTree.Clock.Update(1.5f);
// make child suceed
child.Finish(true);
// ensure we're stopped
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
// start again
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
// ensure the child has not been started ( due to cooldown )
Assert.AreEqual(Node.State.INACTIVE, child.CurrentState);
// advance clock to be at 2.0 seconds
behaviorTree.Clock.Update(0.5f);
// ensure the child has not been started ( due to cooldown )
Assert.AreEqual(Node.State.INACTIVE, child.CurrentState);
// advance clock to be at 3 seconds
behaviorTree.Clock.Update(1.0f);
// ensure the child has been started
Assert.AreEqual(Node.State.ACTIVE, child.CurrentState);
}
public void ShouldFailAndNotSetCooldown_WhenDecorateeFails_DueToParameter()
{
MockNode failingChild = new MockNode();
Cooldown sut = new Cooldown(1, false, true, failingChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
// start
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
// make child fail
failingChild.Finish(false);
// ensure we're stopped
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
// start again
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
// ensure the child has been started again ( due to cooldown not active )
Assert.AreEqual(Node.State.ACTIVE, failingChild.CurrentState);
}
