public void TickSequenceParentSelectorChildrenFirstChildFailsOnBothSequenceFails()
{
Sequence sequence = new Sequence();
MockSelector selector1 = new MockSelector(2);
MockSelector selector2 = new MockSelector(2);
sequence.Add(selector1);
sequence.Add(selector2);
sequence.Tick();
Assert.AreEqual(Status.BhRunning, sequence.Status);
Assert.AreEqual(1, selector1[0].InitializeCalled);
selector1[0].ReturnStatus = Status.BhFailure;
sequence.Tick();
Assert.AreEqual(Status.BhRunning, sequence.Status);
// if the child of the first selector fails, then
// the second child should be running and the first
// child should be terminated
Assert.AreEqual(1, selector1[1].InitializeCalled);
Assert.AreEqual(Status.BhRunning, selector1[1].Status);
Assert.AreEqual(1, selector1[0].TerminateCalled);
// the first child of the second selector should not
// yet be called
Assert.AreEqual(0, selector2[0].InitializeCalled);
selector1[1].ReturnStatus = Status.BhSuccess;
sequence.Tick();
Assert.AreEqual(Status.BhRunning, selector2[0].Status);
Assert.AreEqual(1, selector1[1].TerminateCalled);
Assert.AreEqual(1, selector2[0].InitializeCalled);
// mark the first child of the second selector as failed
selector2[0].ReturnStatus = Status.BhFailure;
sequence.Tick();
Assert.AreEqual(Status.BhRunning, sequence.Status);
selector2[1].ReturnStatus = Status.BhFailure;
sequence.Tick();
Assert.AreEqual(Status.BhFailure, selector2.Status);
Assert.AreEqual(Status.BhFailure, sequence.Status);
}
public void TickSequenceParentSelectorChildrenSequenceSucceedes()
{
Sequence sequence = new Sequence();
MockSelector selector1 = new MockSelector(2);
MockSelector selector2 = new MockSelector(2);
sequence.Add(selector1);
sequence.Add(selector2);
sequence.Tick();
Assert.AreEqual(Status.BhRunning, sequence.Status);
Assert.AreEqual(1, selector1[0].InitializeCalled);
selector1[0].ReturnStatus = Status.BhSuccess;
sequence.Tick();
Assert.AreEqual(Status.BhRunning, sequence.Status);
// if the first selector succeedes, then none of the
// other childrne of the selector will be touched
Assert.AreEqual(Status.BhInvalid, selector1[1].Status);
Assert.AreEqual(1, selector1[0].TerminateCalled);
// since a sequence has to go trough all of its selectors (if any)
// if they succeed. So the first child of the second selector
// should now be initialized
Assert.AreEqual(1, selector2[0].InitializeCalled);
sequence.Tick();
Assert.AreEqual(Status.BhRunning, sequence.Status);
Assert.AreEqual(0, selector2[0].TerminateCalled);
Assert.AreEqual(0, selector2[1].TerminateCalled);
Assert.AreEqual(Status.BhRunning, selector2[0].Status);
selector2[0].ReturnStatus = Status.BhSuccess;
sequence.Tick();
Assert.AreEqual(Status.BhSuccess, sequence.Status);
}
