gtest_fallback.cpp
Go to the documentation of this file.
1 /* Copyright (C) 2015-2017 Michele Colledanchise - All Rights Reserved
2 *
3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
4 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
5 * and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
6 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
7 *
8 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
9 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
10 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <gtest/gtest.h>
14 #include "action_test_node.h"
15 #include "condition_test_node.h"
16 #include "behaviortree_cpp/behavior_tree.h"
17 
18 using BT::NodeStatus;
19 using std::chrono::milliseconds;
20 
21 struct SimpleFallbackTest : testing::Test
22 {
23  BT::FallbackNode root;
24  BT::ConditionTestNode condition;
25  BT::AsyncActionTest action;
26 
27  SimpleFallbackTest() :
28  root("root_fallback")
29  , condition("condition")
30  , action("action", milliseconds(100) )
31  {
32  root.addChild(&condition);
33  root.addChild(&action);
34  }
35  ~SimpleFallbackTest()
36  {
37  haltAllActions(&root);
38  }
39 };
40 
41 struct ReactiveFallbackTest : testing::Test
42 {
43  BT::ReactiveFallback root;
44  BT::ConditionTestNode condition_1;
45  BT::ConditionTestNode condition_2;
46  BT::AsyncActionTest action_1;
47 
48  ReactiveFallbackTest()
49  : root("root_first")
50  , condition_1("condition_1")
51  , condition_2("condition_2")
52  , action_1("action_1", milliseconds(100) )
53  {
54  root.addChild(&condition_1);
55  root.addChild(&condition_2);
56  root.addChild(&action_1);
57  }
58  ~ReactiveFallbackTest()
59  {
60  haltAllActions(&root);
61  }
62 };
63 
64 struct SimpleFallbackWithMemoryTest : testing::Test
65 {
66  BT::FallbackNode root;
67  BT::AsyncActionTest action;
68  BT::ConditionTestNode condition;
69 
70  SimpleFallbackWithMemoryTest() :
71  root("root_sequence")
72  , action("action", milliseconds(100) )
73  , condition("condition")
74  {
75  root.addChild(&condition);
76  root.addChild(&action);
77  }
78  ~SimpleFallbackWithMemoryTest()
79  {
80  haltAllActions(&root);
81  }
82 };
83 
84 struct ComplexFallbackWithMemoryTest : testing::Test
85 {
86  BT::FallbackNode root;
87 
88  BT::AsyncActionTest action_1;
89  BT::AsyncActionTest action_2;
90 
91  BT::ConditionTestNode condition_1;
92  BT::ConditionTestNode condition_2;
93 
94  BT::FallbackNode fal_conditions;
95  BT::FallbackNode fal_actions;
96 
97  ComplexFallbackWithMemoryTest()
98  : root("root_fallback")
99  , action_1("action_1", milliseconds(100) )
100  , action_2("action_2", milliseconds(100) )
101  , condition_1("condition_1")
102  , condition_2("condition_2")
103  , fal_conditions("fallback_conditions")
104  , fal_actions("fallback_actions")
105  {
106  root.addChild(&fal_conditions);
107  {
108  fal_conditions.addChild(&condition_1);
109  fal_conditions.addChild(&condition_2);
110  }
111  root.addChild(&fal_actions);
112  {
113  fal_actions.addChild(&action_1);
114  fal_actions.addChild(&action_2);
115  }
116  }
117  ~ComplexFallbackWithMemoryTest()
118  {
119  haltAllActions(&root);
120  }
121 };
122 
123 /****************TESTS START HERE***************************/
124 
125 TEST_F(SimpleFallbackTest, ConditionTrue)
126 {
127  // Ticking the root node
128  condition.setBoolean(true);
129  BT::NodeStatus state = root.executeTick();
130 
131  ASSERT_EQ(NodeStatus::SUCCESS, state);
132  ASSERT_EQ(NodeStatus::IDLE, condition.status());
133  ASSERT_EQ(NodeStatus::IDLE, action.status());
134 }
135 
136 TEST_F(SimpleFallbackTest, ConditionChangeWhileRunning)
137 {
138  BT::NodeStatus state = BT::NodeStatus::IDLE;
139 
140  condition.setBoolean(false);
141  state = root.executeTick();
142 
143  ASSERT_EQ(NodeStatus::RUNNING, state);
144  ASSERT_EQ(NodeStatus::FAILURE, condition.status());
145  ASSERT_EQ(NodeStatus::RUNNING, action.status());
146 
147  condition.setBoolean(true);
148  state = root.executeTick();
149 
150  ASSERT_EQ(NodeStatus::RUNNING, state);
151  ASSERT_EQ(NodeStatus::FAILURE, condition.status());
152  ASSERT_EQ(NodeStatus::RUNNING, action.status());
153 }
154 
155 TEST_F(ReactiveFallbackTest, Condition1ToTrue)
156 {
157  condition_1.setBoolean(false);
158  condition_2.setBoolean(false);
159 
160  BT::NodeStatus state = root.executeTick();
161 
162  ASSERT_EQ(NodeStatus::RUNNING, state);
163  ASSERT_EQ(NodeStatus::FAILURE, condition_1.status());
164  ASSERT_EQ(NodeStatus::FAILURE, condition_2.status());
165  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
166 
167  condition_1.setBoolean(true);
168 
169  state = root.executeTick();
170 
171  ASSERT_EQ(NodeStatus::SUCCESS, state);
172  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
173  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
174  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
175 }
176 
177 TEST_F(ReactiveFallbackTest, Condition2ToTrue)
178 {
179  condition_1.setBoolean(false);
180  condition_2.setBoolean(false);
181 
182  BT::NodeStatus state = root.executeTick();
183 
184  ASSERT_EQ(NodeStatus::RUNNING, state);
185  ASSERT_EQ(NodeStatus::FAILURE, condition_1.status());
186  ASSERT_EQ(NodeStatus::FAILURE, condition_2.status());
187  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
188 
189  condition_2.setBoolean(true);
190 
191  state = root.executeTick();
192 
193  ASSERT_EQ(NodeStatus::SUCCESS, state);
194  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
195  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
196  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
197 }
198 
199 TEST_F(SimpleFallbackWithMemoryTest, ConditionFalse)
200 {
201  condition.setBoolean(false);
202  BT::NodeStatus state = root.executeTick();
203 
204  ASSERT_EQ(NodeStatus::RUNNING, state);
205  ASSERT_EQ(NodeStatus::FAILURE, condition.status());
206  ASSERT_EQ(NodeStatus::RUNNING, action.status());
207 }
208 
209 TEST_F(SimpleFallbackWithMemoryTest, ConditionTurnToTrue)
210 {
211  condition.setBoolean(false);
212  BT::NodeStatus state = root.executeTick();
213 
214  ASSERT_EQ(NodeStatus::RUNNING, state);
215  ASSERT_EQ(NodeStatus::FAILURE, condition.status());
216  ASSERT_EQ(NodeStatus::RUNNING, action.status());
217 
218  condition.setBoolean(true);
219  state = root.executeTick();
220 
221  ASSERT_EQ(NodeStatus::RUNNING, state);
222  ASSERT_EQ(NodeStatus::FAILURE, condition.status());
223  ASSERT_EQ(NodeStatus::RUNNING, action.status());
224 }
225 
226 TEST_F(ComplexFallbackWithMemoryTest, ConditionsTrue)
227 {
228  BT::NodeStatus state = root.executeTick();
229 
230  ASSERT_EQ(NodeStatus::SUCCESS, state);
231  ASSERT_EQ(NodeStatus::IDLE, fal_conditions.status());
232  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
233  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
234  ASSERT_EQ(NodeStatus::IDLE, fal_actions.status());
235  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
236  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
237 }
238 
239 TEST_F(ComplexFallbackWithMemoryTest, Condition1False)
240 {
241  condition_1.setBoolean(false);
242  BT::NodeStatus state = root.executeTick();
243 
244  ASSERT_EQ(NodeStatus::SUCCESS, state);
245  ASSERT_EQ(NodeStatus::IDLE, fal_conditions.status());
246  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
247  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
248  ASSERT_EQ(NodeStatus::IDLE, fal_actions.status());
249  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
250  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
251 }
252 
253 TEST_F(ComplexFallbackWithMemoryTest, ConditionsFalse)
254 {
255  condition_1.setBoolean(false);
256  condition_2.setBoolean(false);
257  BT::NodeStatus state = root.executeTick();
258 
259  ASSERT_EQ(NodeStatus::RUNNING, state);
260  ASSERT_EQ(NodeStatus::FAILURE, fal_conditions.status());
261  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
262  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
263  ASSERT_EQ(NodeStatus::RUNNING, fal_actions.status());
264  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
265  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
266 }
267 
268 TEST_F(ComplexFallbackWithMemoryTest, Conditions1ToTrue)
269 {
270  condition_1.setBoolean(false);
271  condition_2.setBoolean(false);
272  BT::NodeStatus state = root.executeTick();
273 
274  condition_1.setBoolean(true);
275  state = root.executeTick();
276 
277  ASSERT_EQ(NodeStatus::RUNNING, state);
278  ASSERT_EQ(NodeStatus::FAILURE, fal_conditions.status());
279  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
280  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
281  ASSERT_EQ(NodeStatus::RUNNING, fal_actions.status());
282  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
283  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
284 }
285 
286 TEST_F(ComplexFallbackWithMemoryTest, Conditions2ToTrue)
287 {
288  condition_1.setBoolean(false);
289  condition_2.setBoolean(false);
290  BT::NodeStatus state = root.executeTick();
291 
292  condition_2.setBoolean(true);
293  state = root.executeTick();
294 
295  ASSERT_EQ(NodeStatus::RUNNING, state);
296  ASSERT_EQ(NodeStatus::FAILURE, fal_conditions.status());
297  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
298  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
299  ASSERT_EQ(NodeStatus::RUNNING, fal_actions.status());
300  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
301  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
302 }
303 
304 TEST_F(ComplexFallbackWithMemoryTest, Action1Failed)
305 {
306  action_1.setBoolean(false);
307  action_2.setBoolean(true);
308  condition_1.setBoolean(false);
309  condition_2.setBoolean(false);
310 
311  BT::NodeStatus state = root.executeTick();
312 
313  state = root.executeTick();
314  std::this_thread::sleep_for(std::chrono::milliseconds(500));
315  state = root.executeTick();
316 
317  ASSERT_EQ(NodeStatus::RUNNING, state);
318  ASSERT_EQ(NodeStatus::FAILURE, fal_conditions.status());
319  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
320  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
321  ASSERT_EQ(NodeStatus::RUNNING, fal_actions.status());
322  ASSERT_EQ(NodeStatus::FAILURE, action_1.status());
323  ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
324 }
ComplexFallbackWithMemoryTest::action_1
BT::AsyncActionTest action_1
Definition: gtest_fallback.cpp:88
SimpleFallbackTest::action
BT::AsyncActionTest action
Definition: gtest_fallback.cpp:25
SimpleFallbackWithMemoryTest::condition
BT::ConditionTestNode condition
Definition: gtest_fallback.cpp:68
SimpleFallbackTest::condition
BT::ConditionTestNode condition
Definition: gtest_fallback.cpp:24
BT::ConditionTestNode::setBoolean
void setBoolean(bool boolean_value)
Definition: condition_test_node.cpp:40
ComplexFallbackWithMemoryTest::action_2
BT::AsyncActionTest action_2
Definition: gtest_fallback.cpp:89
ReactiveFallbackTest::root
BT::ReactiveFallback root
Definition: gtest_fallback.cpp:43
ReactiveFallbackTest::condition_1
BT::ConditionTestNode condition_1
Definition: gtest_fallback.cpp:44
ReactiveFallbackTest::condition_2
BT::ConditionTestNode condition_2
Definition: gtest_fallback.cpp:45
condition_test_node.h
BT::haltAllActions
void haltAllActions(TreeNode *root_node)
Definition: behavior_tree.cpp:110
action_test_node.h
ReactiveFallbackTest::action_1
BT::AsyncActionTest action_1
Definition: gtest_fallback.cpp:46
SimpleFallbackTest::root
BT::FallbackNode root
Definition: gtest_fallback.cpp:23
behavior_tree.h
BT::ControlNode::addChild
void addChild(TreeNode *child)
The method used to add nodes to the children vector.
Definition: control_node.cpp:23
BT::ReactiveFallback
The ReactiveFallback is similar to a ParallelNode. All the children are ticked from first to last: ...
Definition: reactive_fallback.h:35
BT::TreeNode::status
NodeStatus status() const
Definition: tree_node.cpp:56
SimpleFallbackWithMemoryTest::action
BT::AsyncActionTest action
Definition: gtest_fallback.cpp:67
BT::NodeStatus
NodeStatus
Definition: basic_types.h:35
ComplexFallbackWithMemoryTest::condition_2
BT::ConditionTestNode condition_2
Definition: gtest_fallback.cpp:92
BT::TreeNode::executeTick
virtual BT::NodeStatus executeTick()
The method that should be used to invoke tick() and setStatus();.
Definition: tree_node.cpp:33
BT::FallbackNode
The FallbackNode is used to try different strategies, until one succeeds. If any child returns RUNNIN...
Definition: fallback_node.h:33
ComplexFallbackWithMemoryTest::condition_1
BT::ConditionTestNode condition_1
Definition: gtest_fallback.cpp:91
TEST_F
TEST_F(SimpleFallbackTest, ConditionTrue)
Definition: gtest_fallback.cpp:125

behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sat Jun 8 2019 18:04:05