navigation_test.cpp

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#include "behaviortree_cpp/xml_parsing.h"
#include "behaviortree_cpp/blackboard.h"
#include <gtest/gtest.h>

using namespace BT;

// clang-format off
static const char* xml_text = R"(

<root main_tree_to_execute="BehaviorTree">
    <BehaviorTree ID="BehaviorTree">
        <Fallback name="root">

            <ReactiveSequence name="navigation_subtree">
                <Inverter>
                    <Condition ID="IsStuck"/>
                </Inverter>
                <SequenceStar name="navigate">
                    <Action ID="ComputePathToPose"/>
                    <Action ID="FollowPath"/>
                </SequenceStar>
            </ReactiveSequence>

            <SequenceStar name="stuck_recovery">
                <Condition ID="IsStuck"/>
                <Action ID="BackUpAndSpin"/>
            </SequenceStar>

        </Fallback>
    </BehaviorTree>
</root>
 )";

// clang-format on

using Milliseconds = std::chrono::milliseconds;

inline std::chrono::high_resolution_clock::time_point Now()
{
    return std::chrono::high_resolution_clock::now();
}



//--------------------------------------------

class TestNode
{
  public:
    TestNode(const std::string& name):
      _expected_result(true),
      _tick_count(0),
      _name(name)
    { }

    void setExpectedResult(bool will_succeed)
    {
        _expected_result = will_succeed;
    }
    NodeStatus expectedResult() const
    {
        return _expected_result ? NodeStatus::SUCCESS : NodeStatus::FAILURE;
    }
    void resetTickCount() { _tick_count = 0; }
    int tickCount() const { return _tick_count;}

    NodeStatus tickImpl()
    {
        std::cout << _name << ": "<< (_expected_result? "true" : "false") << std::endl;
        _tick_count++;
        return expectedResult();
    }

  private:
    bool _expected_result;
    int _tick_count;
    std::string _name;
};

class IsStuck: public ConditionNode, public TestNode
{
  public:
    IsStuck(const std::string& name): ConditionNode(name, {}), TestNode(name) {}

    NodeStatus tick() override
    {
        return tickImpl();
    }
};

class BackUpAndSpin: public SyncActionNode, public TestNode
{
  public:
    BackUpAndSpin(const std::string& name): SyncActionNode(name, {}), TestNode(name){}

    NodeStatus tick() override
    {
        return tickImpl();
    }
};

class ComputePathToPose: public SyncActionNode, public TestNode
{
  public:
    ComputePathToPose(const std::string& name): SyncActionNode(name, {}), TestNode(name){}

    NodeStatus tick() override
    {
        return tickImpl();
    }
};

class FollowPath: public CoroActionNode, public TestNode
{
  public:
    FollowPath(const std::string& name): CoroActionNode(name, {}), TestNode(name), _halted(false){}

    NodeStatus tick() override
    {
        _halted = false;
        std::cout << "FollowPath::started" << std::endl;
        auto initial_time = Now();

        // Yield for 1 second
        while( Now() < initial_time + Milliseconds(600) )
        {
            setStatusRunningAndYield();
        }
        return tickImpl();
    }
    void halt() override {
        std::cout << "FollowPath::halt" << std::endl;
        _halted = true;
        CoroActionNode::halt();
    }

    bool wasHalted() const { return _halted; }

  private:
    bool _halted;
};

//-------------------------------------

template <typename Original, typename Casted>
void TryDynamicCastPtr(Original* ptr, Casted*& destination)
{
    if( dynamic_cast<Casted*>(ptr) )
    {
        destination = dynamic_cast<Casted*>(ptr);
    }
}

/****************TESTS START HERE***************************/

TEST(Navigationtest, MoveBaseRecovery)
{
    BehaviorTreeFactory factory;

    factory.registerNodeType<IsStuck>("IsStuck");
    factory.registerNodeType<BackUpAndSpin>("BackUpAndSpin");
    factory.registerNodeType<ComputePathToPose>("ComputePathToPose");
    factory.registerNodeType<FollowPath>("FollowPath");

    auto tree = factory.createTreeFromText(xml_text);

    // Need to retrieve the node pointers with dynamic cast
    // In a normal application you would NEVER want to do such a thing.
    IsStuck *first_stuck_node = nullptr;
    IsStuck *second_stuck_node = nullptr;
    BackUpAndSpin* back_spin_node = nullptr;
    ComputePathToPose* compute_node = nullptr;
    FollowPath* follow_node = nullptr;

    for (auto& node: tree.nodes)
    {
        auto ptr = node.get();

        if( !first_stuck_node )
        {
            TryDynamicCastPtr(ptr, first_stuck_node);
        }
        else{
            TryDynamicCastPtr(ptr, second_stuck_node);
        }
        TryDynamicCastPtr(ptr, back_spin_node);
        TryDynamicCastPtr(ptr, follow_node);
        TryDynamicCastPtr(ptr, compute_node);
    }

    ASSERT_TRUE( first_stuck_node );
    ASSERT_TRUE( second_stuck_node );
    ASSERT_TRUE( back_spin_node );
    ASSERT_TRUE( compute_node );
    ASSERT_TRUE( follow_node );

    std::cout << "-----------------------" << std::endl;

    // First case: not stuck, everything fine.
    NodeStatus status = NodeStatus::IDLE;

    first_stuck_node->setExpectedResult(false);

    while( status == NodeStatus::IDLE || status == NodeStatus::RUNNING )
    {
        status = tree.root_node->executeTick();
        std::this_thread::sleep_for(Milliseconds(100));
    }

    // SUCCESS expected
    ASSERT_EQ( status,  NodeStatus::SUCCESS );
    // IsStuck on the left branch must run several times
    ASSERT_GE( first_stuck_node->tickCount(), 6);
    // Never take the right branch (recovery)
    ASSERT_EQ( second_stuck_node->tickCount(), 0 );
    ASSERT_EQ( back_spin_node->tickCount(), 0 );

    ASSERT_EQ( compute_node->tickCount(), 1 );
    ASSERT_EQ( follow_node->tickCount(), 1 );
    ASSERT_FALSE( follow_node->wasHalted() );

    std::cout << "-----------------------" << std::endl;

    // Second case: get stuck after a while

    // Initialize evrything first
    first_stuck_node->resetTickCount();
    second_stuck_node->resetTickCount();
    compute_node->resetTickCount();
    follow_node->resetTickCount();
    back_spin_node->resetTickCount();
    status = NodeStatus::IDLE;
    int cycle = 0;

    while( status == NodeStatus::IDLE || status == NodeStatus::RUNNING )
    {
        // At the fifth cycle get stucked
        if( ++cycle == 2 )
        {
            first_stuck_node->setExpectedResult(true);
            second_stuck_node->setExpectedResult(true);
        }
        status = tree.root_node->executeTick();
        std::this_thread::sleep_for(Milliseconds(100));
    }

    // SUCCESS expected
    ASSERT_EQ( status,  NodeStatus::SUCCESS );

    // First IsStuck must run several times
    ASSERT_GE( first_stuck_node->tickCount(), 2);
    // Second IsStuck probably only once
    ASSERT_EQ( second_stuck_node->tickCount(), 1 );
    ASSERT_EQ( back_spin_node->tickCount(), 1 );

    // compute done once and follow started but halted
    ASSERT_EQ( compute_node->tickCount(), 1 );

    ASSERT_EQ( follow_node->tickCount(), 0 ); // started but never completed
    ASSERT_TRUE( follow_node->wasHalted() );

    ASSERT_EQ( compute_node->status(),  NodeStatus::IDLE );
    ASSERT_EQ( follow_node->status(),  NodeStatus::IDLE );
    ASSERT_EQ( back_spin_node->status(),  NodeStatus::IDLE );


    std::cout << "-----------------------" << std::endl;

    // Third case: execute again

    // Initialize everything first
    first_stuck_node->resetTickCount();
    second_stuck_node->resetTickCount();
    compute_node->resetTickCount();
    follow_node->resetTickCount();
    back_spin_node->resetTickCount();
    status = NodeStatus::IDLE;
    first_stuck_node->setExpectedResult(false);
    second_stuck_node->setExpectedResult(false);

    while( status == NodeStatus::IDLE || status == NodeStatus::RUNNING )
    {
        status = tree.root_node->executeTick();
        std::this_thread::sleep_for(Milliseconds(100));
    }

    // SUCCESS expected
    ASSERT_EQ( status,  NodeStatus::SUCCESS );

    ASSERT_GE( first_stuck_node->tickCount(), 6);
    ASSERT_EQ( second_stuck_node->tickCount(), 0 );
    ASSERT_EQ( back_spin_node->tickCount(), 0 );

    ASSERT_EQ( compute_node->status(),  NodeStatus::IDLE );
    ASSERT_EQ( follow_node->status(),  NodeStatus::IDLE );
    ASSERT_EQ( back_spin_node->status(),  NodeStatus::IDLE );
    ASSERT_FALSE( follow_node->wasHalted() );

}