public Sequencer <BlackBoard> BuildTree(BlackBoard blackboard)
{
Sequencer <BlackBoard> rootNode = new Sequencer <BlackBoard>(blackboard);
Iddle iddleNode = new Iddle(blackboard);
rootNode.AddChild(iddleNode);
Sequencer <BlackBoard> mining = new Sequencer <BlackBoard>(blackboard);
rootNode.AddChild(mining);
GoToMine goMineNode = new GoToMine(blackboard);
Mine mineNode = new Mine(blackboard);
mining.AddChild(goMineNode);
mining.AddChild(mineNode);
Sequencer <BlackBoard> depositing = new Sequencer <BlackBoard>(blackboard);
rootNode.AddChild(depositing);
GoHome goHomeNode = new GoHome(blackboard);
Deposit depoNode = new Deposit(blackboard);
depositing.AddChild(goHomeNode);
depositing.AddChild(depoNode);
return(rootNode);
}
private void BuildTree()
{
root = new Selector();
Sequencer seq1 = new Sequencer();
Randomizer rand1 = new Randomizer();
root.AddChild(rand1);
root.AddChild(seq1);
Condition con1 = new Condition(nearDogs);
BAction pact = new BAction(Play);
BAction wact = new BAction(Wander);
BAction ract = new BAction(Run);
BAction sact = new BAction(Sleep);
seq1.AddChild(con1);
seq1.AddChild(pact);
rand1.AddChild(wact);
rand1.AddChild(ract);
// rand1.AddChild(sact);
root.AddChild(new BAction(Wander));
}
void BuildTree()
{
Sequencer idleSeq = new Sequencer();
Sequencer pathSeq = new Sequencer();
Sequencer shootSeq = new Sequencer();
InverterGadget invCon = new InverterGadget();
invCon.SetChild(new Condition(ShouldTgt));
idleSeq.AddChild(invCon);
idleSeq.AddChild(new BAction(Idle));
invCon = new InverterGadget();
invCon.SetChild(new Condition(InTgtDist));
pathSeq.AddChild(invCon);
pathSeq.AddChild(new BAction(Path));
shootSeq.AddChild(new Condition(InSights));
shootSeq.AddChild(new BAction(Shoot));
root.AddChild(idleSeq);
root.AddChild(pathSeq);
root.AddChild(shootSeq);
root.AddChild(new BAction(Idle));
}
public void TestSequencerSucceedsIfNoneFail()
{
var sequencer = new Sequencer("", 1, 1);
sequencer.AddChild(TestingResources.GetRunRunSuccess());
sequencer.AddChild(TestingResources.GetRunRunSuccess());
var actual = new List <BehaviorState>();
var expected = new List <BehaviorState>();
expected.Add(BehaviorState.Running);
expected.Add(BehaviorState.Running);
expected.Add(BehaviorState.Success);
sequencer.Start().Subscribe((x) => actual.Add(x));
Assert.AreEqual(expected, actual);
}
public void TestSequencerCompletesOnFirstFail()
{
var sequencer = new Sequencer("", 1, 1);
sequencer.AddChild(TestingResources.GetRunRunSuccess());
sequencer.AddChild(TestingResources.GetRunRunFail());
//all of these should be ignored
//TODO: Should probably check if these are run anyways
// through the Concat operation
sequencer.AddChild(TestingResources.GetRunRunFail());
sequencer.AddChild(TestingResources.GetRunRunFail());
var actual = new List <BehaviorState>();
var expected = new List <BehaviorState>();
expected.Add(BehaviorState.Running);
expected.Add(BehaviorState.Fail);
sequencer.Start().Subscribe((x) => actual.Add(x));
Assert.AreEqual(expected, actual);
}
