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add unittest switch_node #159

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Merged
merged 2 commits into from
Mar 18, 2020
Merged

add unittest switch_node #159

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b6ccb83
add unittest switch_node
renan028 Mar 18, 2020
5909473
fix unittest switch should halt
renan028 Mar 18, 2020
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1 change: 1 addition & 0 deletions tests/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ set(BT_TESTS
gtest_blackboard.cpp
navigation_test.cpp
gtest_subtree.cpp
gtest_switch.cpp
)

if (NOT MINGW)
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214 changes: 214 additions & 0 deletions tests/gtest_switch.cpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,214 @@
#include <gtest/gtest.h>
#include "action_test_node.h"
#include "condition_test_node.h"
#include "behaviortree_cpp_v3/behavior_tree.h"
#include "behaviortree_cpp_v3/tree_node.h"

using BT::NodeStatus;
using std::chrono::milliseconds;

struct SwitchTest : testing::Test
{

std::unique_ptr<BT::SwitchNode<2>> root;
BT::AsyncActionTest action_1;
BT::AsyncActionTest action_2;
BT::AsyncActionTest action_3;
BT::Blackboard::Ptr bb = BT::Blackboard::create();
BT::NodeConfiguration simple_switch_config_;

SwitchTest() :
action_1("action_1", milliseconds(100)),
action_2("action_2", milliseconds(100)),
action_3("action_3", milliseconds(100))
{
BT::PortsRemapping input;
input.insert(std::make_pair("case_1", "1"));
input.insert(std::make_pair("case_2", "2"));

BT::NodeConfiguration simple_switch_config_;
simple_switch_config_.blackboard = bb;
simple_switch_config_.input_ports = input;

root = std::make_unique<BT::SwitchNode<2>>
("simple_switch", simple_switch_config_);
root->addChild(&action_1);
root->addChild(&action_2);
root->addChild(&action_3);
}
~SwitchTest()
{
root->halt();
}
};

TEST_F(SwitchTest, DefaultCase)
{
BT::NodeStatus state = root->executeTick();

ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::RUNNING, action_3.status());
ASSERT_EQ(NodeStatus::RUNNING, state);

std::this_thread::sleep_for(milliseconds(110));
state = root->executeTick();

ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::SUCCESS, state);
}

TEST_F(SwitchTest, Case1)
{
bb->set("variable", "1");
BT::NodeStatus state = root->executeTick();

ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::RUNNING, state);

std::this_thread::sleep_for(milliseconds(110));
state = root->executeTick();

ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::SUCCESS, state);
}

TEST_F(SwitchTest, Case2)
{
bb->set("variable", "2");
BT::NodeStatus state = root->executeTick();

ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::RUNNING, state);

std::this_thread::sleep_for(milliseconds(110));
state = root->executeTick();

ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::SUCCESS, state);
}

TEST_F(SwitchTest, CaseNone)
{
bb->set("variable", "none");
BT::NodeStatus state = root->executeTick();

ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::RUNNING, action_3.status());
ASSERT_EQ(NodeStatus::RUNNING, state);

std::this_thread::sleep_for(milliseconds(110));
state = root->executeTick();

ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::SUCCESS, state);
}

TEST_F(SwitchTest, CaseSwitchToDefault)
{
bb->set("variable", "1");
BT::NodeStatus state = root->executeTick();

ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::RUNNING, state);

std::this_thread::sleep_for(milliseconds(10));
state = root->executeTick();
ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::RUNNING, state);

// Switch Node does not feels changes. Only when tick.
// (not reactive)
std::this_thread::sleep_for(milliseconds(10));
bb->set("variable", "");
std::this_thread::sleep_for(milliseconds(10));
ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::RUNNING, root->status());

std::this_thread::sleep_for(milliseconds(10));
state = root->executeTick();
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::RUNNING, action_3.status());
ASSERT_EQ(NodeStatus::RUNNING, state);

std::this_thread::sleep_for(milliseconds(110));
state = root->executeTick();

ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::SUCCESS, root->status());
}

TEST_F(SwitchTest, CaseSwitchToAction2)
{
bb->set("variable", "1");
BT::NodeStatus state = root->executeTick();

ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::RUNNING, state);

bb->set("variable", "2");
std::this_thread::sleep_for(milliseconds(10));
state = root->executeTick();
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::RUNNING, state);

std::this_thread::sleep_for(milliseconds(110));
state = root->executeTick();

ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::SUCCESS, root->status());
}

TEST_F(SwitchTest, ActionFailure)
{
bb->set("variable", "1");
BT::NodeStatus state = root->executeTick();

ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::RUNNING, state);

std::this_thread::sleep_for(milliseconds(10));
action_1.setStatus(NodeStatus::FAILURE);
state = root->executeTick();
ASSERT_EQ(NodeStatus::FAILURE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::IDLE, state);

state = root->executeTick();
state = root->executeTick();
ASSERT_EQ(NodeStatus::FAILURE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
ASSERT_EQ(NodeStatus::IDLE, action_3.status());
ASSERT_EQ(NodeStatus::IDLE, state);
}