public void RunningAfterHaltAfterRunningDoesNotHaltPreviouslyChildren()
{
// four children: flip_flop, success, running, and other
// the sequence is ticked, halted, and ticked
// flip_flop will return success on the first tick, running on the second tick
// normally, after flip_flop returns running, success and running should be halted
// since the sequence is halted between the first and second tick, they should not be halted
var flip_flop = new ReturnStatusFromCollectionNode(NodeStatus.SUCCESS, NodeStatus.RUNNING);
var success = new ReturnXNode(NodeStatus.SUCCESS);
var running = new ReturnXNode(NodeStatus.RUNNING);
var other = new ReturnXNode(NodeStatus.SUCCESS);
var node = new SequenceNode(new List <INode>
{
flip_flop,
success,
running,
other,
});
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.RUNNING));
Assert.That(flip_flop.Ticks, Is.EqualTo(1));
Assert.That(success.Ticks, Is.EqualTo(1));
Assert.That(running.Ticks, Is.EqualTo(1));
Assert.That(other.Ticks, Is.EqualTo(0));
Assert.That(flip_flop.Halts, Is.EqualTo(0));
Assert.That(success.Halts, Is.EqualTo(0));
Assert.That(running.Halts, Is.EqualTo(0));
Assert.That(other.Halts, Is.EqualTo(0));
node.Halt();
Assert.That(flip_flop.Halts, Is.EqualTo(1));
Assert.That(success.Halts, Is.EqualTo(1));
Assert.That(running.Halts, Is.EqualTo(1));
Assert.That(other.Halts, Is.EqualTo(1));
// prime flip_flop so that it's next tick, the one from sequence, is running
flip_flop.Tick();
status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.RUNNING));
Assert.That(flip_flop.Ticks, Is.EqualTo(3)); // two from sequence, one from primer
Assert.That(success.Ticks, Is.EqualTo(1));
Assert.That(running.Ticks, Is.EqualTo(1));
Assert.That(flip_flop.Halts, Is.EqualTo(1));
Assert.That(success.Halts, Is.EqualTo(1));
Assert.That(running.Halts, Is.EqualTo(1));
Assert.That(other.Halts, Is.EqualTo(1));
}
public void RestartsAfterHalt()
{
// sequence should restart from beginning when halted while still running
var success = new ReturnXNode(NodeStatus.SUCCESS);
var running = new ReturnXNode(NodeStatus.RUNNING);
var other = new ReturnXNode(NodeStatus.SUCCESS);
var node = new SequenceNode(new List <INode>
{
success,
running,
other,
});
// starts at the beginning
var status = node.Tick();
Assert.That(status, Is.EqualTo(NodeStatus.RUNNING));
Assert.That(success.Ticks, Is.EqualTo(1));
Assert.That(running.Ticks, Is.EqualTo(1));
Assert.That(other.Ticks, Is.EqualTo(0));
// restarts, up to running child
node.Tick();
Assert.That(success.Ticks, Is.EqualTo(2));
Assert.That(running.Ticks, Is.EqualTo(2));
Assert.That(other.Ticks, Is.EqualTo(0));
node.Halt();
Assert.That(success.Halts, Is.EqualTo(1));
Assert.That(running.Halts, Is.EqualTo(1));
Assert.That(other.Halts, Is.EqualTo(1));
// restarts at the beginning
node.Tick();
Assert.That(success.Ticks, Is.EqualTo(3));
Assert.That(running.Ticks, Is.EqualTo(3));
Assert.That(other.Ticks, Is.EqualTo(0));
}
