public void Selector_AllFailures()
{
var root = new SelectorNode();
var failure = new TaskFailureNode();
root.Append(failure);
root.Append(new TaskFailureNode());
Assert.That(() => root.Run(null), Throws.Nothing);
Assert.That(root.Run(null), Is.EqualTo(NodeState.Failure));
}
public void Selector_Red()
{
var root = new SelectorNode();
var failure = new TaskFailureNode();
root.Append(failure);
root.Append(new TaskSuccessNode());
Assert.That(() => root.Run(null), Throws.Nothing);
Assert.That(root.Run(null), Is.Not.EqualTo(NodeState.Failure)); //ignore failures and return last success
Assert.That(failure.executed, Is.EqualTo(true));
}
public void Selector_Green()
{
var root = new SelectorNode();
root.Append(new TaskSuccessNode());
var failure = new TaskFailureNode();
root.Append(failure);
Assert.That(() => root.Run(null), Throws.Nothing);
Assert.That(root.Run(null), Is.EqualTo(NodeState.Success)); //first is success so I expect the first node returns true
Assert.That(failure.executed, Is.EqualTo(false));
}
public void SequenceFailCalled()
{
var sequence = new SequenceNode();
var fail = new TaskFailureNode();
var success = new TaskSuccessNode();
sequence.Append(new TaskSuccessNode());
sequence.Append(fail);
sequence.Append(success);
Assert.That(sequence.Run(null), Is.EqualTo(NodeState.Failure));
Assert.That(fail.executed, Is.EqualTo(true));
Assert.That(success.executed, Is.EqualTo(false));
}
public void WriteOnFailure_Green()
{
var root = new SequenceNode();
var fail = new TaskFailureNode();
fail.AppendDecorator(new SetValueOnFail("foo", () => 1));
root.Append(fail);
BT.BT bt = new BT.BT(root);
bt.BlackBoard.SetValue("foo", 0);
Assert.That(bt.BlackBoard.ReadValue <int>("foo"), Is.EqualTo(0));
bt.Run();
Assert.That(bt.BlackBoard.ReadValue <int>("foo"), Is.EqualTo(1));
}
public void ConditionSuccessSingle()
{
var root = new SequenceNode();
var succ = new TaskSuccessNode();
succ.AppendDecorator(new ConditionSuccess());
root.Append(succ);
var fail = new TaskFailureNode();
fail.AppendDecorator(new ConditionFail());
root.Append(fail);
Assert.That(root.Run(null), Is.EqualTo(NodeState.Success)); //should skip the fail node
Assert.That(succ.executed, Is.EqualTo(true));
Assert.That(fail.executed, Is.EqualTo(false));
}
public void SequenceRunning_Red()
{
var sequence = new SequenceNode();
var run = new TaskRunningNode();
var fail = new TaskFailureNode();
var succ = new TaskSuccessNode();
sequence.Append(run);
sequence.Append(fail);
sequence.Append(succ);
Assert.That(sequence.Run(null), Is.EqualTo(NodeState.Running));
Assert.That(sequence.Run(null), Is.EqualTo(NodeState.Running));
Assert.That(sequence.Run(null), Is.EqualTo(NodeState.Running));
Assert.That(sequence.Run(null), Is.EqualTo(NodeState.Running));
Assert.That(sequence.Run(null), Is.EqualTo(NodeState.Failure));
Assert.That(fail.executed, Is.EqualTo(true)); //condition satisfied
Assert.That(succ.executed, Is.EqualTo(false)); //condition satisfied
}
public void SelectorRunningWithFailure()
{
var Selector = new SelectorNode();
var failure = new TaskFailureNode();
var running = new TaskRunningNode();
var node = new TaskSuccessNode();
Selector.Append(failure);
Selector.Append(running);
Selector.Append(node);
//same asserts as before, failure will be ignored
Assert.That(Selector.Run(null), Is.EqualTo(NodeState.Running));
Assert.That(Selector.Run(null), Is.EqualTo(NodeState.Running));
Assert.That(Selector.Run(null), Is.EqualTo(NodeState.Running));
Assert.That(Selector.Run(null), Is.EqualTo(NodeState.Running));
Assert.That(Selector.Run(null), Is.EqualTo(NodeState.Success));
Assert.That(failure.executed, Is.EqualTo(true));
Assert.That(node.executed, Is.EqualTo(false)); //next node in Selector will be never executed
}
