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miccolmiccol
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initiate unit test for reactive sequence
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3 files changed

+270
-10
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3 files changed

+270
-10
lines changed

‎tests/CMakeLists.txt

Lines changed: 13 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -6,16 +6,19 @@ include_directories(include)
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set(BT_TESTS
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src/action_test_node.cpp
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src/condition_test_node.cpp
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gtest_tree.cpp
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gtest_sequence.cpp
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gtest_parallel.cpp
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gtest_fallback.cpp
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gtest_factory.cpp
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gtest_decorator.cpp
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gtest_blackboard.cpp
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gtest_coroutines.cpp
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navigation_test.cpp
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gtest_subtree.cpp
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# gtest_tree.cpp
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# gtest_sequence.cpp
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# gtest_parallel.cpp
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# gtest_fallback.cpp
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# gtest_factory.cpp
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# gtest_decorator.cpp
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# gtest_blackboard.cpp
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# gtest_coroutines.cpp
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# navigation_test.cpp
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# gtest_subtree.cpp
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#gtest_reactive_sequence.cpp
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gtest_reactive_tree.cpp
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)
2023

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if(ament_cmake_FOUND AND BUILD_TESTING)

‎tests/gtest_reactive_sequence.cpp

Lines changed: 134 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1 +1,135 @@
11

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/* Copyright (C) 2015-2017 Michele Colledanchise - All Rights Reserved
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*
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* 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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* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
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* 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:
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* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* 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,
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* 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.
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*/
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#include <gtest/gtest.h>
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#include "action_test_node.h"
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#include "condition_test_node.h"
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#include "behaviortree_cpp/behavior_tree.h"
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using BT::NodeStatus;
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using std::chrono::milliseconds;
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struct ComplexReactiveSequence2ActionsTest : testing::Test
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{
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BT::ReactiveSequence root;
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BT::AsyncActionTest action_1;
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BT::AsyncActionTest action_2;
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BT::ReactiveSequence seq_1;
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BT::ReactiveSequence seq_2;
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BT::ConditionTestNode condition_1;
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BT::ConditionTestNode condition_2;
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ComplexReactiveSequence2ActionsTest()
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: root("root_sequence")
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, action_1("action_1", milliseconds(100))
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, action_2("action_2", milliseconds(100))
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, seq_1("sequence_1")
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, seq_2("sequence_2")
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, condition_1("condition_1")
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, condition_2("condition_2")
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{
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root.addChild(&seq_1);
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{
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seq_1.addChild(&condition_1);
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seq_1.addChild(&action_1);
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}
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root.addChild(&seq_2);
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{
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seq_2.addChild(&condition_2);
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seq_2.addChild(&action_2);
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}
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}
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~ComplexReactiveSequence2ActionsTest()
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{
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haltAllActions(&root);
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}
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};
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struct ComplexReactiveTree : testing::Test
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{
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BT::ReactiveSequence root;
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BT::AsyncActionTest action_1;
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BT::AsyncActionTest action_2;
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BT::ReactiveFallback fal_1;
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BT::ReactiveFallback fal_2;
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BT::ConditionTestNode condition_1;
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BT::ConditionTestNode condition_2;
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ComplexReactiveTree()
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: root("root_sequence")
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, action_1("action_1", milliseconds(100))
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, action_2("action_2", milliseconds(100))
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, fal_1("fallback_1")
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, fal_2("fallback_2")
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, condition_1("condition_1")
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, condition_2("condition_2")
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{
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root.addChild(&fal_1);
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{
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fal_1.addChild(&condition_1);
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fal_1.addChild(&action_1);
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}
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root.addChild(&fal_2);
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{
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fal_2.addChild(&condition_2);
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fal_2.addChild(&action_2);
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}
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}
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~ComplexReactiveTree()
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{
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haltAllActions(&root);
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}
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};
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/****************TESTS START HERE***************************/
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TEST_F(ComplexReactiveSequence2ActionsTest, ConditionsTrue)
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{
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BT::NodeStatus state = root.executeTick();
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state = root.executeTick();
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ASSERT_EQ(NodeStatus::RUNNING, state);
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ASSERT_EQ(NodeStatus::RUNNING, seq_1.status());
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ASSERT_EQ(NodeStatus::SUCCESS, condition_1.status());
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ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, seq_2.status());
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ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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std::this_thread::sleep_for(milliseconds(300));
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state = root.executeTick();
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ASSERT_EQ(NodeStatus::RUNNING, state);
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ASSERT_EQ(NodeStatus::SUCCESS, seq_1.status());
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ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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ASSERT_EQ(NodeStatus::RUNNING, seq_2.status());
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ASSERT_EQ(NodeStatus::SUCCESS, condition_2.status());
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ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
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std::this_thread::sleep_for(milliseconds(300));
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state = root.executeTick();
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ASSERT_EQ(NodeStatus::RUNNING, state);
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ASSERT_EQ(NodeStatus::RUNNING, seq_1.status());
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ASSERT_EQ(NodeStatus::SUCCESS, condition_1.status());
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ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, seq_2.status());
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ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());;
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}

‎tests/gtest_reactive_tree.cpp

Lines changed: 123 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1 +1,124 @@
11

2+
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/* Copyright (C) 2015-2017 Michele Colledanchise - All Rights Reserved
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*
5+
* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
6+
* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
7+
* 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:
8+
* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9+
*
10+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
11+
* 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,
12+
* 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.
13+
*/
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15+
#include <gtest/gtest.h>
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#include "action_test_node.h"
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#include "condition_test_node.h"
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#include "behaviortree_cpp/behavior_tree.h"
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using BT::NodeStatus;
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using std::chrono::milliseconds;
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struct ComplexReactiveTree : testing::Test
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{
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BT::ReactiveSequence root;
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BT::AsyncActionTest action_1;
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BT::AsyncActionTest action_2;
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BT::ReactiveFallback fal_1;
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BT::ReactiveFallback fal_2;
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BT::ConditionTestNode condition_1;
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BT::ConditionTestNode condition_2;
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ComplexReactiveTree()
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: root("root_sequence")
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, action_1("action_1", milliseconds(5000))
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, action_2("action_2", milliseconds(5000))
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, fal_1("fallback_1")
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, fal_2("fallback_2")
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, condition_1("condition_1")
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, condition_2("condition_2")
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{
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root.addChild(&fal_1);
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{
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fal_1.addChild(&condition_1);
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fal_1.addChild(&action_1);
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}
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root.addChild(&fal_2);
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{
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fal_2.addChild(&condition_2);
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fal_2.addChild(&action_2);
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}
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}
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~ComplexReactiveTree()
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{
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haltAllActions(&root);
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}
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};
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/****************TESTS START HERE***************************/
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TEST_F(ComplexReactiveTree, ConditionsFalse)
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{
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condition_1.setBoolean(false);
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condition_2.setBoolean(false);
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BT::NodeStatus state = root.executeTick();
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state = root.executeTick();
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ASSERT_EQ(NodeStatus::RUNNING, state);
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ASSERT_EQ(NodeStatus::RUNNING, fal_1.status());
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ASSERT_EQ(NodeStatus::FAILURE, condition_1.status());
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ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, fal_2.status());
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ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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std::this_thread::sleep_for(milliseconds(300));
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condition_1.setBoolean(true);
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// state = root.executeTick();
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// ASSERT_EQ(NodeStatus::RUNNING, state);
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// ASSERT_EQ(NodeStatus::SUCCESS, fal_1.status());
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// ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
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// ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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// ASSERT_EQ(NodeStatus::RUNNING, fal_2.status());
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// ASSERT_EQ(NodeStatus::FAILURE, condition_2.status());
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// ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
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// std::this_thread::sleep_for(milliseconds(300));
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// state = root.executeTick();
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// ASSERT_EQ(NodeStatus::RUNNING, state);
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// ASSERT_EQ(NodeStatus::SUCCESS, fal_1.status());
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// ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
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// ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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// ASSERT_EQ(NodeStatus::RUNNING, fal_2.status());
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// ASSERT_EQ(NodeStatus::FAILURE, condition_2.status());
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// ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
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// std::this_thread::sleep_for(milliseconds(300));
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// condition_1.setBoolean(false);
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// state = root.executeTick();
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// ASSERT_EQ(NodeStatus::RUNNING, state);
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// ASSERT_EQ(NodeStatus::RUNNING, fal_1.status());
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// ASSERT_EQ(NodeStatus::FAILURE, condition_1.status());
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// ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
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// ASSERT_EQ(NodeStatus::IDLE, fal_2.status());
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// ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
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// ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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}

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