gtest_reactive.cpp

Go to the documentation of this file.

#include <gtest/gtest.h>
#include "behaviortree_cpp/bt_factory.h"
#include "test_helper.hpp"
#include "behaviortree_cpp/loggers/bt_observer.h"
 
using BT::NodeStatus;
using std::chrono::milliseconds;
 
TEST(Reactive, RunningChildren)
{
  static const char* reactive_xml_text = R"(
<root BTCPP_format="4" >
  <BehaviorTree ID="MainTree">
    <ReactiveSequence>
      <Sequence name="first">
        <TestA/>
        <TestB/>
        <TestC/>
      </Sequence>
      <AsyncSequence name="second">
        <TestD/>
        <TestE/>
        <TestF/>
      </AsyncSequence>
    </ReactiveSequence>
  </BehaviorTree>
</root>
)";
 
  BT::BehaviorTreeFactory factory;
  std::array<int, 6> counters;
  RegisterTestTick(factory, "Test", counters);
 
  auto tree = factory.createTreeFromText(reactive_xml_text);
 
  NodeStatus status = NodeStatus::IDLE;
 
  int count = 0;
  while(!BT::isStatusCompleted(status) && count < 100)
  {
    count++;
    status = tree.tickExactlyOnce();
  }
 
  ASSERT_NE(100, count);
 
  ASSERT_EQ(status, NodeStatus::SUCCESS);
 
  ASSERT_EQ(counters[0], 3);
  ASSERT_EQ(counters[1], 3);
  ASSERT_EQ(counters[2], 3);
 
  ASSERT_EQ(counters[3], 1);
  ASSERT_EQ(counters[4], 1);
  ASSERT_EQ(counters[5], 1);
}
 
TEST(Reactive, Issue587)
{
  // TestA should be executed only once, because of the variable "test"
 
  static const char* reactive_xml_text = R"(
<root BTCPP_format="4" >
  <BehaviorTree ID="Example A">
    <Sequence>
      <Script code="test := false"/>
      <ReactiveSequence>
        <RetryUntilSuccessful name="Retry 1" num_attempts="-1" _skipIf="test ">
          <TestA name="Success 1" _onSuccess="test = true"/>
        </RetryUntilSuccessful>
        <RetryUntilSuccessful name="Retry 2" num_attempts="5">
          <AlwaysFailure name="Failure 2"/>
        </RetryUntilSuccessful>
      </ReactiveSequence>
    </Sequence>
  </BehaviorTree>
</root>
)";
 
  BT::BehaviorTreeFactory factory;
  std::array<int, 2> counters;
  RegisterTestTick(factory, "Test", counters);
 
  auto tree = factory.createTreeFromText(reactive_xml_text);
  tree.tickWhileRunning();
 
  ASSERT_EQ(counters[0], 1);
}
 
TEST(Reactive, PreTickHooks)
{
  using namespace BT;
 
  static const char* reactive_xml_text = R"(
<root BTCPP_format="4" >
  <BehaviorTree ID="Main">
    <ReactiveSequence>
      <AlwaysFailure name="failureA"/>
      <AlwaysFailure name="failureB"/>
      <Sleep msec="100"/>
    </ReactiveSequence>
  </BehaviorTree>
</root>
)";
 
  BehaviorTreeFactory factory;
 
  auto tree = factory.createTreeFromText(reactive_xml_text);
 
  TreeNode::PreTickCallback callback = [](TreeNode& node) -> NodeStatus {
    std::cout << node.name() << " callback" << std::endl;
    return NodeStatus::SUCCESS;
  };
 
  tree.applyVisitor([&](TreeNode* node) -> void {
    if(auto dd = dynamic_cast<BT::AlwaysFailureNode*>(node))
    {
      dd->setPreTickFunction(callback);
    }
  });
 
  auto ret = tree.tickWhileRunning();
  ASSERT_EQ(ret, NodeStatus::SUCCESS);
}
 
TEST(Reactive, TestLogging)
{
  using namespace BT;
 
  static const char* reactive_xml_text = R"(
<root BTCPP_format="4" >
  <BehaviorTree ID="Main">
    <ReactiveSequence>
      <TestA name="testA"/>
      <AlwaysSuccess name="success"/>
      <Sleep msec="100"/>
    </ReactiveSequence>
  </BehaviorTree>
</root>
)";
 
  BehaviorTreeFactory factory;
 
  std::array<int, 1> counters;
  RegisterTestTick(factory, "Test", counters);
 
  auto tree = factory.createTreeFromText(reactive_xml_text);
  TreeObserver observer(tree);
 
  auto ret = tree.tickWhileRunning();
  ASSERT_EQ(ret, NodeStatus::SUCCESS);
 
  int num_ticks = counters[0];
  ASSERT_GE(num_ticks, 5);
 
  ASSERT_EQ(observer.getStatistics("testA").success_count, num_ticks);
  ASSERT_EQ(observer.getStatistics("success").success_count, num_ticks);
}
 
TEST(Reactive, TwoAsyncNodesInReactiveSequence)
{
  static const char* reactive_xml_text = R"(
<root BTCPP_format="4" >
  <BehaviorTree ID="MainTree">
    <ReactiveSequence>
      <AsyncSequence name="first">
        <TestA/>
        <TestB/>
        <TestC/>
      </AsyncSequence>
      <AsyncSequence name="second">
        <TestD/>
        <TestE/>
        <TestF/>
      </AsyncSequence>
    </ReactiveSequence>
  </BehaviorTree>
</root>
)";
 
  BT::BehaviorTreeFactory factory;
  std::array<int, 6> counters;
  RegisterTestTick(factory, "Test", counters);
 
  EXPECT_ANY_THROW(auto tree = factory.createTreeFromText(reactive_xml_text));
}