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renan028renan028
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add unittest switch_node
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‎tests/CMakeLists.txt

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@@ -15,6 +15,7 @@ set(BT_TESTS
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gtest_blackboard.cpp
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navigation_test.cpp
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gtest_subtree.cpp
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gtest_switch.cpp
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)
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if (NOT MINGW)

‎tests/gtest_switch.cpp

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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_v3/behavior_tree.h"
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#include "behaviortree_cpp_v3/tree_node.h"
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using BT::NodeStatus;
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using std::chrono::milliseconds;
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struct SwitchTest : testing::Test
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{
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std::unique_ptr<BT::SwitchNode<2>> root;
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BT::AsyncActionTest action_1;
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BT::AsyncActionTest action_2;
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BT::AsyncActionTest action_3;
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BT::Blackboard::Ptr bb = BT::Blackboard::create();
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BT::NodeConfiguration simple_switch_config_;
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SwitchTest() :
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action_1("action_1", milliseconds(100)),
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action_2("action_2", milliseconds(100)),
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action_3("action_3", milliseconds(100))
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{
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BT::PortsRemapping input;
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input.insert(std::make_pair("case_1", "1"));
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input.insert(std::make_pair("case_2", "2"));
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BT::NodeConfiguration simple_switch_config_;
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simple_switch_config_.blackboard = bb;
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simple_switch_config_.input_ports = input;
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root = std::make_unique<BT::SwitchNode<2>>
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("simple_switch", simple_switch_config_);
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root->addChild(&action_1);
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root->addChild(&action_2);
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root->addChild(&action_3);
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}
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~SwitchTest()
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{
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root->halt();
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}
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};
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TEST_F(SwitchTest, DefaultCase)
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{
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BT::NodeStatus state = root->executeTick();
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ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::RUNNING, action_3.status());
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ASSERT_EQ(NodeStatus::RUNNING, state);
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std::this_thread::sleep_for(milliseconds(110));
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// Switch Node does not halt action after success ?
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ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::SUCCESS, action_3.status());
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ASSERT_EQ(NodeStatus::SUCCESS, state);
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}
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TEST_F(SwitchTest, Case1)
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{
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bb->set("variable", "1");
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BT::NodeStatus state = root->executeTick();
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ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::RUNNING, state);
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std::this_thread::sleep_for(milliseconds(110));
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ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::SUCCESS, state);
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}
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TEST_F(SwitchTest, Case2)
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{
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bb->set("variable", "2");
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BT::NodeStatus state = root->executeTick();
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ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::RUNNING, state);
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std::this_thread::sleep_for(milliseconds(110));
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ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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ASSERT_EQ(NodeStatus::SUCCESS, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::SUCCESS, state);
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}
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TEST_F(SwitchTest, CaseNone)
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{
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bb->set("variable", "none");
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BT::NodeStatus state = root->executeTick();
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ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::RUNNING, action_3.status());
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ASSERT_EQ(NodeStatus::RUNNING, state);
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std::this_thread::sleep_for(milliseconds(110));
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ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::SUCCESS, action_3.status());
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ASSERT_EQ(NodeStatus::SUCCESS, state);
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}
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TEST_F(SwitchTest, CaseSwitchToDefault)
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{
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bb->set("variable", "1");
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BT::NodeStatus state = root->executeTick();
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ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::RUNNING, state);
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std::this_thread::sleep_for(milliseconds(10));
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state = root->executeTick();
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ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::RUNNING, state);
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// Switch Node feels changes only when tick ? (no while loop inside,
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// not reactive)
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std::this_thread::sleep_for(milliseconds(10));
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bb->set("variable", "");
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std::this_thread::sleep_for(milliseconds(10));
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ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::RUNNING, root->status());
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std::this_thread::sleep_for(milliseconds(10));
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state = root->executeTick();
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ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::RUNNING, action_3.status());
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ASSERT_EQ(NodeStatus::RUNNING, state);
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std::this_thread::sleep_for(milliseconds(110));
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ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::SUCCESS, action_3.status());
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ASSERT_EQ(NodeStatus::SUCCESS, root->status());
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}
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TEST_F(SwitchTest, CaseSwitchToAction2)
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{
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bb->set("variable", "1");
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BT::NodeStatus state = root->executeTick();
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ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::RUNNING, state);
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bb->set("variable", "2");
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std::this_thread::sleep_for(milliseconds(10));
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state = root->executeTick();
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ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::RUNNING, state);
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std::this_thread::sleep_for(milliseconds(110));
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ASSERT_EQ(NodeStatus::IDLE, action_1.status());
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ASSERT_EQ(NodeStatus::SUCCESS, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::SUCCESS, root->status());
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}
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TEST_F(SwitchTest, ActionFailure)
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{
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bb->set("variable", "1");
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BT::NodeStatus state = root->executeTick();
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ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::RUNNING, state);
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// Switch Node does not halt after failure ?
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std::this_thread::sleep_for(milliseconds(10));
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action_1.setStatus(NodeStatus::FAILURE);
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state = root->executeTick();
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ASSERT_EQ(NodeStatus::FAILURE, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::FAILURE, state);
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state = root->executeTick();
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state = root->executeTick();
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ASSERT_EQ(NodeStatus::FAILURE, action_1.status());
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ASSERT_EQ(NodeStatus::IDLE, action_2.status());
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ASSERT_EQ(NodeStatus::IDLE, action_3.status());
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ASSERT_EQ(NodeStatus::FAILURE, state);
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}

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