public void ContinueMultipleNestedPausePlan_ExpectedBehavior()
{
var ctx = new MyContext();
ctx.Init();
var task = new Sequence()
{
Name = "Test"
};
var task2 = new Selector()
{
Name = "Test2"
};
var task3 = new Sequence()
{
Name = "Test3"
};
var task4 = new Sequence()
{
Name = "Test4"
};
task3.AddSubtask(new PrimitiveTask()
{
Name = "Sub-task1"
});
task3.AddSubtask(new PausePlanTask());
task3.AddSubtask(new PrimitiveTask()
{
Name = "Sub-task2"
});
task2.AddSubtask(task3);
task2.AddSubtask(new PrimitiveTask()
{
Name = "Sub-task3"
});
task4.AddSubtask(new PrimitiveTask()
{
Name = "Sub-task5"
});
task4.AddSubtask(new PausePlanTask());
task4.AddSubtask(new PrimitiveTask()
{
Name = "Sub-task6"
});
task.AddSubtask(task2);
task.AddSubtask(new PrimitiveTask()
{
Name = "Sub-task4"
});
task.AddSubtask(task4);
task.AddSubtask(new PrimitiveTask()
{
Name = "Sub-task7"
});
var status = task.Decompose(ctx, 0, out var plan);
Assert.IsTrue(status == DecompositionStatus.Partial);
Assert.IsTrue(plan != null);
Assert.IsTrue(plan.Count == 1);
Assert.AreEqual("Sub-task1", plan.Dequeue().Name);
Assert.IsTrue(ctx.HasPausedPartialPlan);
Assert.IsTrue(ctx.PartialPlanQueue.Count == 2);
var queueAsArray = ctx.PartialPlanQueue.ToArray();
Assert.AreEqual(task3, queueAsArray[0].Task);
Assert.AreEqual(2, queueAsArray[0].TaskIndex);
Assert.AreEqual(task, queueAsArray[1].Task);
Assert.AreEqual(1, queueAsArray[1].TaskIndex);
ctx.HasPausedPartialPlan = false;
plan = new Queue <ITask>();
while (ctx.PartialPlanQueue.Count > 0)
{
var kvp = ctx.PartialPlanQueue.Dequeue();
var s = kvp.Task.Decompose(ctx, kvp.TaskIndex, out var p);
if (s == DecompositionStatus.Succeeded || s == DecompositionStatus.Partial)
{
while (p.Count > 0)
{
plan.Enqueue(p.Dequeue());
}
}
if (ctx.HasPausedPartialPlan)
{
break;
}
}
Assert.IsTrue(plan != null);
Assert.IsTrue(plan.Count == 3);
Assert.AreEqual("Sub-task2", plan.Dequeue().Name);
Assert.AreEqual("Sub-task4", plan.Dequeue().Name);
Assert.AreEqual("Sub-task5", plan.Dequeue().Name);
ctx.HasPausedPartialPlan = false;
plan = new Queue <ITask>();
while (ctx.PartialPlanQueue.Count > 0)
{
var kvp = ctx.PartialPlanQueue.Dequeue();
var s = kvp.Task.Decompose(ctx, kvp.TaskIndex, out var p);
if (s == DecompositionStatus.Succeeded || s == DecompositionStatus.Partial)
{
while (p.Count > 0)
{
plan.Enqueue(p.Dequeue());
}
}
if (ctx.HasPausedPartialPlan)
{
break;
}
}
Assert.IsTrue(plan != null);
Assert.IsTrue(plan.Count == 2);
Assert.AreEqual("Sub-task6", plan.Dequeue().Name);
Assert.AreEqual("Sub-task7", plan.Dequeue().Name);
}
public void DecomposeNestedCompoundSubtaskFailReturnToPreviousWorldState_ExpectedBehavior()
{
var ctx = new MyContext();
ctx.Init();
ctx.ContextState = ContextState.Planning;
ctx.SetState(MyWorldState.HasA, true, EffectType.PlanAndExecute);
ctx.SetState(MyWorldState.HasB, true, EffectType.Permanent);
ctx.SetState(MyWorldState.HasC, true, EffectType.PlanOnly);
var task = new Sequence()
{
Name = "Test"
};
var task2 = new Sequence()
{
Name = "Test2"
};
var task3 = new Sequence()
{
Name = "Test3"
};
task3.AddSubtask(new PrimitiveTask()
{
Name = "Sub-task2"
}.AddCondition(new FuncCondition <MyContext>("Done == true", context => context.Done == true)));
task3.AddSubtask(new PrimitiveTask()
{
Name = "Sub-task3"
}.AddEffect(new ActionEffect <MyContext>("TestEffect", EffectType.Permanent, (context, type) => context.SetState(MyWorldState.HasA, false, EffectType.PlanOnly))));
task2.AddSubtask(task3);
task2.AddSubtask(new PrimitiveTask()
{
Name = "Sub-task4"
}.AddEffect(new ActionEffect <MyContext>("TestEffect", EffectType.Permanent, (context, type) => context.SetState(MyWorldState.HasB, false, EffectType.PlanOnly))));
task.AddSubtask(new PrimitiveTask()
{
Name = "Sub-task1"
}
.AddEffect(new ActionEffect <MyContext>("TestEffect", EffectType.Permanent, (context, type) => context.SetState(MyWorldState.HasA, false, EffectType.PlanOnly))));
task.AddSubtask(task2);
task.AddSubtask(new PrimitiveTask()
{
Name = "Sub-task5"
}.AddEffect(new ActionEffect <MyContext>("TestEffect", EffectType.Permanent, (context, type) => context.SetState(MyWorldState.HasC, false, EffectType.PlanOnly))));
var status = task.Decompose(ctx, 0, out var plan);
Assert.IsTrue(status == DecompositionStatus.Failed);
Assert.IsTrue(plan != null);
Assert.IsTrue(plan.Count == 0);
Assert.IsTrue(ctx.WorldStateChangeStack[(int)MyWorldState.HasA].Count == 1);
Assert.IsTrue(ctx.WorldStateChangeStack[(int)MyWorldState.HasB].Count == 1);
Assert.IsTrue(ctx.WorldStateChangeStack[(int)MyWorldState.HasC].Count == 1);
Assert.AreEqual(1, ctx.GetState(MyWorldState.HasA));
Assert.AreEqual(1, ctx.GetState(MyWorldState.HasB));
Assert.AreEqual(1, ctx.GetState(MyWorldState.HasC));
}
