gtest_fallback.cpp
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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"),
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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"), condition("condition"), action("action", milliseconds(100))
29  {
30  root.addChild(&condition);
31  root.addChild(&action);
32  }
33  ~SimpleFallbackTest() override
34  {}
35 };
36 
37 struct ReactiveFallbackTest : testing::Test
38 {
39  BT::ReactiveFallback root;
40  BT::ConditionTestNode condition_1;
41  BT::ConditionTestNode condition_2;
42  BT::AsyncActionTest action_1;
43 
44  ReactiveFallbackTest()
45  : root("root_first")
46  , condition_1("condition_1")
47  , condition_2("condition_2")
48  , action_1("action_1", milliseconds(100))
49  {
50  root.addChild(&condition_1);
51  root.addChild(&condition_2);
52  root.addChild(&action_1);
53  }
54  ~ReactiveFallbackTest() override
55  {}
56 };
57 
58 struct SimpleFallbackWithMemoryTest : testing::Test
59 {
60  BT::FallbackNode root;
61  BT::AsyncActionTest action;
62  BT::ConditionTestNode condition;
63 
64  SimpleFallbackWithMemoryTest()
65  : root("root_sequence"), action("action", milliseconds(100)), condition("condition")
66  {
67  root.addChild(&condition);
68  root.addChild(&action);
69  }
70  ~SimpleFallbackWithMemoryTest() override
71  {}
72 };
73 
74 struct ComplexFallbackWithMemoryTest : testing::Test
75 {
76  BT::FallbackNode root;
77 
78  BT::AsyncActionTest action_1;
79  BT::AsyncActionTest action_2;
80 
81  BT::ConditionTestNode condition_1;
82  BT::ConditionTestNode condition_2;
83 
84  BT::FallbackNode fal_conditions;
85  BT::FallbackNode fal_actions;
86 
87  ComplexFallbackWithMemoryTest()
88  : root("root_fallback")
89  , action_1("action_1", milliseconds(100))
90  , action_2("action_2", milliseconds(100))
91  , condition_1("condition_1")
92  , condition_2("condition_2")
93  , fal_conditions("fallback_conditions")
94  , fal_actions("fallback_actions")
95  {
96  root.addChild(&fal_conditions);
97  {
98  fal_conditions.addChild(&condition_1);
99  fal_conditions.addChild(&condition_2);
100  }
101  root.addChild(&fal_actions);
102  {
103  fal_actions.addChild(&action_1);
104  fal_actions.addChild(&action_2);
105  }
106  }
107  ~ComplexFallbackWithMemoryTest() override
108  {}
109 };
110 
111 /****************TESTS START HERE***************************/
112 
113 TEST_F(SimpleFallbackTest, ConditionTrue)
114 {
115  // Ticking the root node
116  condition.setExpectedResult(NodeStatus::SUCCESS);
117  BT::NodeStatus state = root.executeTick();
118 
119  ASSERT_EQ(NodeStatus::SUCCESS, state);
120  ASSERT_EQ(NodeStatus::IDLE, condition.status());
121  ASSERT_EQ(NodeStatus::IDLE, action.status());
122 }
123 
124 TEST_F(SimpleFallbackTest, ConditionChangeWhileRunning)
125 {
126  BT::NodeStatus state = BT::NodeStatus::IDLE;
127 
128  condition.setExpectedResult(NodeStatus::FAILURE);
129  state = root.executeTick();
130 
131  ASSERT_EQ(NodeStatus::RUNNING, state);
132  ASSERT_EQ(NodeStatus::FAILURE, condition.status());
133  ASSERT_EQ(NodeStatus::RUNNING, action.status());
134 
135  condition.setExpectedResult(NodeStatus::SUCCESS);
136  state = root.executeTick();
137 
138  ASSERT_EQ(NodeStatus::RUNNING, state);
139  ASSERT_EQ(NodeStatus::FAILURE, condition.status());
140  ASSERT_EQ(NodeStatus::RUNNING, action.status());
141 }
142 
143 TEST_F(ReactiveFallbackTest, Condition1ToTrue)
144 {
145  condition_1.setExpectedResult(NodeStatus::FAILURE);
146  condition_2.setExpectedResult(NodeStatus::FAILURE);
147 
148  BT::NodeStatus state = root.executeTick();
149 
150  ASSERT_EQ(NodeStatus::RUNNING, state);
151  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
152  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
153  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
154 
155  condition_1.setExpectedResult(NodeStatus::SUCCESS);
156 
157  state = root.executeTick();
158 
159  ASSERT_EQ(NodeStatus::SUCCESS, state);
160  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
161  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
162  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
163 }
164 
165 TEST_F(ReactiveFallbackTest, Condition2ToTrue)
166 {
167  condition_1.setExpectedResult(NodeStatus::FAILURE);
168  condition_2.setExpectedResult(NodeStatus::FAILURE);
169 
170  BT::NodeStatus state = root.executeTick();
171 
172  ASSERT_EQ(NodeStatus::RUNNING, state);
173  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
174  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
175  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
176 
177  condition_2.setExpectedResult(NodeStatus::SUCCESS);
178 
179  state = root.executeTick();
180 
181  ASSERT_EQ(NodeStatus::SUCCESS, state);
182  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
183  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
184  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
185 }
186 
187 TEST_F(SimpleFallbackWithMemoryTest, ConditionFalse)
188 {
189  condition.setExpectedResult(NodeStatus::FAILURE);
190  BT::NodeStatus state = root.executeTick();
191 
192  ASSERT_EQ(NodeStatus::RUNNING, state);
193  ASSERT_EQ(NodeStatus::FAILURE, condition.status());
194  ASSERT_EQ(NodeStatus::RUNNING, action.status());
195 }
196 
197 TEST_F(SimpleFallbackWithMemoryTest, ConditionTurnToTrue)
198 {
199  condition.setExpectedResult(NodeStatus::FAILURE);
200  BT::NodeStatus state = root.executeTick();
201 
202  ASSERT_EQ(NodeStatus::RUNNING, state);
203  ASSERT_EQ(NodeStatus::FAILURE, condition.status());
204  ASSERT_EQ(NodeStatus::RUNNING, action.status());
205 
206  condition.setExpectedResult(NodeStatus::SUCCESS);
207  state = root.executeTick();
208 
209  ASSERT_EQ(NodeStatus::RUNNING, state);
210  ASSERT_EQ(NodeStatus::FAILURE, condition.status());
211  ASSERT_EQ(NodeStatus::RUNNING, action.status());
212 }
213 
214 TEST_F(ComplexFallbackWithMemoryTest, ConditionsTrue)
215 {
216  BT::NodeStatus state = root.executeTick();
217 
218  ASSERT_EQ(NodeStatus::SUCCESS, state);
219  ASSERT_EQ(NodeStatus::IDLE, fal_conditions.status());
220  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
221  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
222  ASSERT_EQ(NodeStatus::IDLE, fal_actions.status());
223  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
224  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
225 }
226 
227 TEST_F(ComplexFallbackWithMemoryTest, Condition1False)
228 {
229  condition_1.setExpectedResult(NodeStatus::FAILURE);
230  BT::NodeStatus state = root.executeTick();
231 
232  ASSERT_EQ(NodeStatus::SUCCESS, state);
233  ASSERT_EQ(NodeStatus::IDLE, fal_conditions.status());
234  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
235  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
236  ASSERT_EQ(NodeStatus::IDLE, fal_actions.status());
237  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
238  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
239 }
240 
241 TEST_F(ComplexFallbackWithMemoryTest, ConditionsFalse)
242 {
243  condition_1.setExpectedResult(NodeStatus::FAILURE);
244  condition_2.setExpectedResult(NodeStatus::FAILURE);
245  BT::NodeStatus state = root.executeTick();
246 
247  ASSERT_EQ(NodeStatus::RUNNING, state);
248  ASSERT_EQ(NodeStatus::FAILURE, fal_conditions.status());
249  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
250  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
251  ASSERT_EQ(NodeStatus::RUNNING, fal_actions.status());
252  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
253  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
254 }
255 
256 TEST_F(ComplexFallbackWithMemoryTest, Conditions1ToTrue)
257 {
258  condition_1.setExpectedResult(NodeStatus::FAILURE);
259  condition_2.setExpectedResult(NodeStatus::FAILURE);
260  BT::NodeStatus state = root.executeTick();
261 
262  condition_1.setExpectedResult(NodeStatus::SUCCESS);
263  state = root.executeTick();
264 
265  ASSERT_EQ(NodeStatus::RUNNING, state);
266  ASSERT_EQ(NodeStatus::FAILURE, fal_conditions.status());
267  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
268  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
269  ASSERT_EQ(NodeStatus::RUNNING, fal_actions.status());
270  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
271  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
272 }
273 
274 TEST_F(ComplexFallbackWithMemoryTest, Conditions2ToTrue)
275 {
276  condition_1.setExpectedResult(NodeStatus::FAILURE);
277  condition_2.setExpectedResult(NodeStatus::FAILURE);
278  BT::NodeStatus state = root.executeTick();
279 
280  condition_2.setExpectedResult(NodeStatus::SUCCESS);
281  state = root.executeTick();
282 
283  ASSERT_EQ(NodeStatus::RUNNING, state);
284  ASSERT_EQ(NodeStatus::FAILURE, fal_conditions.status());
285  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
286  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
287  ASSERT_EQ(NodeStatus::RUNNING, fal_actions.status());
288  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
289  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
290 }
291 
292 TEST_F(ComplexFallbackWithMemoryTest, Action1Failed)
293 {
294  action_1.setExpectedResult(NodeStatus::FAILURE);
295  action_2.setExpectedResult(NodeStatus::SUCCESS);
296  condition_1.setExpectedResult(NodeStatus::FAILURE);
297  condition_2.setExpectedResult(NodeStatus::FAILURE);
298 
299  BT::NodeStatus state = root.executeTick();
300 
301  state = root.executeTick();
302  std::this_thread::sleep_for(std::chrono::milliseconds(500));
303  state = root.executeTick();
304 
305  ASSERT_EQ(NodeStatus::RUNNING, state);
306  ASSERT_EQ(NodeStatus::FAILURE, fal_conditions.status());
307  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
308  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
309  ASSERT_EQ(NodeStatus::RUNNING, fal_actions.status());
310  ASSERT_EQ(NodeStatus::FAILURE, action_1.status());
311  ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
312 }
ReactiveFallbackTest::condition_1
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Definition: gtest_fallback.cpp:40
SimpleFallbackTest::SimpleFallbackTest
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Definition: gtest_fallback.cpp:27
SimpleFallbackTest::condition
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Definition: gtest_fallback.cpp:24
ComplexFallbackWithMemoryTest::fal_conditions
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Definition: gtest_fallback.cpp:84
ComplexFallbackWithMemoryTest::action_1
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Definition: gtest_fallback.cpp:78
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Definition: gtest_fallback.cpp:37
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Definition: gtest_fallback.cpp:60
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Definition: gtest_fallback.cpp:54
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Definition: gtest_fallback.cpp:23
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Definition: gtest_fallback.cpp:74
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Definition: gtest_fallback.cpp:82
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Definition: gtest_fallback.cpp:58
ReactiveFallbackTest::condition_2
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Definition: gtest_fallback.cpp:41
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Definition: gtest_fallback.cpp:70
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behaviortree_cpp_v4
Author(s): Davide Faconti
autogenerated on Fri Jun 28 2024 02:20:07