public void ShouldSucceed_WhenFirstChildSuccessful()
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
Selector sut = new Selector(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.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 ShouldSucceed_WhenStoppedExplicitlyButChildStillFinishesSuccessfully()
{
foreach (Parallel.Policy successPolicy in ALL_SUCCESS_POLICIES)
{
foreach (Parallel.Policy failurePolicy in ALL_FAILURE_POLICIES)
{
MockNode succeedingChild = new MockNode(true);
Parallel sut = new Parallel(successPolicy, failurePolicy, succeedingChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
Assert.AreEqual(Node.State.ACTIVE, sut.CurrentState);
sut.Stop();
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.IsTrue(behaviorTree.DidFinish);
Assert.True(behaviorTree.WasSuccess);
}
}
}
public void StopLowerPriorityChildrenForChild_WithImmediateRestart_ShouldRestartFirstChild_WhenSecondChildFails()
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode(false);
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, 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 ShouldFail_WhenFirstChildFails()
{
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(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_WhenSingleChildFails()
{
foreach (Parallel.Policy sucessPolicy in ALL_SUCCESS_POLICIES)
{
foreach (Parallel.Policy failurePolicy in ALL_FAILURE_POLICIES)
{
MockNode failingChild = new MockNode();
Parallel sut = new Parallel(sucessPolicy, failurePolicy, 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 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 ShouldListenToEvents_WhenUsingChildBlackboard()
{
Blackboard rootBlackboard = new Blackboard(clock);
Blackboard blackboard = new Blackboard(rootBlackboard, clock);
// our mock nodes we want to query for status
MockNode firstChild = new MockNode(false); // false -> fail when aborted
MockNode secondChild = new MockNode(false);
// conditions for each subtree that listen the BB for events
BlackboardCondition firstCondition = new BlackboardCondition("branch1", Operator.IS_EQUAL, true, Stops.IMMEDIATE_RESTART, firstChild);
BlackboardCondition secondCondition = new BlackboardCondition("branch2", Operator.IS_EQUAL, true, Stops.IMMEDIATE_RESTART, secondChild);
// set up the tree
Selector selector = new Selector(firstCondition, secondCondition);
TestRoot behaviorTree = new TestRoot(blackboard, clock, selector);
// intially we want to activate branch2
rootBlackboard.Set("branch2", true);
// start the tree
behaviorTree.Start();
// tick the timer to ensure the blackboard notifies the nodes
clock.Update(0.1f);
// verify the second child is running
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, secondChild.CurrentState);
// change keys so the first conditions get true, too
rootBlackboard.Set("branch1", true);
// tick the timer to ensure the blackboard notifies the nodes
clock.Update(0.1f);
// now we should be in branch1
Assert.AreEqual(Node.State.ACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.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 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 StopLowerPriorityChildrenForChild_WithoutImmediateRestart_ShouldCancelSecondChild()
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode();
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, 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 ShouldNotThrowErrors_WhenObservingKeysThatDontExist()
{
TestRoot behaviorTree = null;
MockNode child = new MockNode();
BlackboardQuery sut = new BlackboardQuery(new string[] { "key1", "key2" }, Stops.IMMEDIATE_RESTART, () => {
object o1 = behaviorTree.Blackboard.Get <float>("key1");
object o2 = behaviorTree.Blackboard.Get <float>("key2");
float f1 = (float)o1;
float f2 = (float)o2;
if ((f1 > 0.99) && (f2 < 5.99f))
{
return(true);
}
return(false);
}, child);
behaviorTree = CreateBehaviorTree(sut);
behaviorTree.Start();
Assert.AreEqual(Node.State.INACTIVE, sut.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, child.CurrentState);
}
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 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);
}
public void StopLowerPriorityChildrenForChild_WithImmediateRestart_ShouldRestartFirstChild_WhenSecondChildFails()
{
MockNode firstChild = new MockNode();
MockNode secondChild = new MockNode(false);
RandomSelector sut = new RandomSelector(firstChild, secondChild);
TestRoot behaviorTree = CreateBehaviorTree(sut);
// TODO: will we keep the priority or will we switch to the priority defined by the randomized children?
RandomSelector.DebugSetSeed(2);
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, 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 ShouldNotActivateLowerPriorityBranchInCaseMultipleBranchesGetValid()
{
this.Timer = new Clock();
this.Blackboard = new Blackboard(Timer);
// our mock nodes we want to query for status
MockNode firstChild = new MockNode(false); // false -> fail when aborted
MockNode secondChild = new MockNode(false);
MockNode thirdChild = new MockNode(false);
// coniditions for each subtree that listen the BB for events
BlackboardCondition firstCondition = new BlackboardCondition("branch1", Operator.IS_EQUAL, true, Stops.IMMEDIATE_RESTART, firstChild);
BlackboardCondition secondCondition = new BlackboardCondition("branch2", Operator.IS_EQUAL, true, Stops.IMMEDIATE_RESTART, secondChild);
BlackboardCondition thirdCondtion = new BlackboardCondition("branch3", Operator.IS_EQUAL, true, Stops.IMMEDIATE_RESTART, thirdChild);
// set up the tree
Selector selector = new Selector(firstCondition, secondCondition, thirdCondtion);
TestRoot behaviorTree = new TestRoot(Blackboard, Timer, selector);
// intially we want to activate branch3
Blackboard.Set("branch3", true);
// start the tree
behaviorTree.Start();
// verify the third child is running
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, thirdChild.CurrentState);
Assert.AreEqual(0, firstChild.DebugNumStartCalls);
Assert.AreEqual(0, secondChild.DebugNumStartCalls);
Assert.AreEqual(1, thirdChild.DebugNumStartCalls);
// change keys so the first & second conditions get true, too
Blackboard.Set("branch1", true);
Blackboard.Set("branch2", true);
// still the third child should be active, as the blackboard didn't yet notifiy the nodes
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, thirdChild.CurrentState);
Assert.AreEqual(0, firstChild.DebugNumStartCalls);
Assert.AreEqual(0, secondChild.DebugNumStartCalls);
Assert.AreEqual(1, thirdChild.DebugNumStartCalls);
// tick the timer to ensure the blackboard notifies the nodes
Timer.Update(0.1f);
// now we should be in branch1
Assert.AreEqual(Node.State.ACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, secondChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, thirdChild.CurrentState);
Assert.AreEqual(1, firstChild.DebugNumStartCalls);
Assert.AreEqual(0, secondChild.DebugNumStartCalls);
Assert.AreEqual(1, thirdChild.DebugNumStartCalls);
// disable first branch
Blackboard.Set("branch1", false);
Timer.Update(0.1f);
// and now the second branch should be active
Assert.AreEqual(Node.State.INACTIVE, firstChild.CurrentState);
Assert.AreEqual(Node.State.ACTIVE, secondChild.CurrentState);
Assert.AreEqual(Node.State.INACTIVE, thirdChild.CurrentState);
Assert.AreEqual(1, firstChild.DebugNumStartCalls);
Assert.AreEqual(1, secondChild.DebugNumStartCalls);
Assert.AreEqual(1, thirdChild.DebugNumStartCalls);
}