isolating sequence tests

Author: miccol

tests/CMakeLists.txt

@@ -6,18 +6,18 @@ include_directories(include)
 set(BT_TESTS
   src/action_test_node.cpp
   src/condition_test_node.cpp
-  gtest_tree.cpp
+#  gtest_tree.cpp
   gtest_sequence.cpp
-  gtest_parallel.cpp
-  gtest_fallback.cpp
-  gtest_factory.cpp
-  gtest_decorator.cpp
-  gtest_blackboard.cpp
-  gtest_coroutines.cpp
-  navigation_test.cpp
-  gtest_subtree.cpp
-  gtest_reactive_sequence.cpp
-  gtest_reactive_tree.cpp
+#  gtest_parallel.cpp
+#  gtest_fallback.cpp
+#  gtest_factory.cpp
+#  gtest_decorator.cpp
+#  gtest_blackboard.cpp
+#  gtest_coroutines.cpp
+#  navigation_test.cpp
+#  gtest_subtree.cpp
+#  gtest_reactive_sequence.cpp
+#  gtest_reactive_tree.cpp
 
 )
 

tests/gtest_sequence.cpp

@@ -227,7 +227,7 @@ TEST_F(SimpleSequenceTest, ConditionTrue)
     ASSERT_EQ(NodeStatus::RUNNING, action.status());
     ASSERT_EQ(NodeStatus::RUNNING, state);
 }
-
+/*
 TEST_F(SimpleSequenceTest, ConditionTurnToFalse)
 {
     condition.setBoolean(false);
@@ -244,10 +244,10 @@ TEST_F(ComplexSequenceTest, ComplexSequenceConditionsTrue)
     BT::NodeStatus state = root.executeTick();
 
     ASSERT_EQ(NodeStatus::RUNNING, state);
-    ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-    ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-    ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-    ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
+//    ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
+//    ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
+//    ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
+//    ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
 }
 
 TEST_F(SequenceTripleActionTest, TripleAction)
@@ -292,30 +292,30 @@ TEST_F(SequenceTripleActionTest, TripleAction)
 
 TEST_F(ComplexSequence2ActionsTest, ConditionsTrue)
 {
-    BT::NodeStatus state = root.executeTick();
-
-    state = root.executeTick();
-
-    ASSERT_EQ(NodeStatus::RUNNING, state);
-    ASSERT_EQ(NodeStatus::RUNNING, seq_1.status());
-    ASSERT_EQ(NodeStatus::SUCCESS, condition_1.status());
-    ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
-    ASSERT_EQ(NodeStatus::IDLE, seq_2.status());
-    ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-    ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-
-    std::this_thread::sleep_for(milliseconds(300));
-    state = root.executeTick();
-
-    ASSERT_EQ(NodeStatus::RUNNING, state);
-    ASSERT_EQ(NodeStatus::SUCCESS, seq_1.status());
-    ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-    ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-    ASSERT_EQ(NodeStatus::RUNNING, seq_2.status());
-    ASSERT_EQ(NodeStatus::SUCCESS, condition_2.status());
-    ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
-
-    state = root.executeTick();
+//    BT::NodeStatus state = root.executeTick();
+
+//    state = root.executeTick();
+
+//    ASSERT_EQ(NodeStatus::RUNNING, state);
+//    ASSERT_EQ(NodeStatus::RUNNING, seq_1.status());
+//    ASSERT_EQ(NodeStatus::SUCCESS, condition_1.status());
+//    ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
+//    ASSERT_EQ(NodeStatus::IDLE, seq_2.status());
+//    ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
+//    ASSERT_EQ(NodeStatus::IDLE, action_2.status());
+
+//    std::this_thread::sleep_for(milliseconds(300));
+//    state = root.executeTick();
+
+//    ASSERT_EQ(NodeStatus::RUNNING, state);
+//    ASSERT_EQ(NodeStatus::SUCCESS, seq_1.status());
+//    ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
+//    ASSERT_EQ(NodeStatus::IDLE, action_1.status());
+//    ASSERT_EQ(NodeStatus::RUNNING, seq_2.status());
+//    ASSERT_EQ(NodeStatus::SUCCESS, condition_2.status());
+//    ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
+
+//    state = root.executeTick();
 }
 
 TEST_F(ComplexSequenceTest, ComplexSequenceConditions1ToFalse)
@@ -326,11 +326,11 @@ TEST_F(ComplexSequenceTest, ComplexSequenceConditions1ToFalse)
 
     state = root.executeTick();
 
-    ASSERT_EQ(NodeStatus::FAILURE, state);
-    ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
-    ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-    ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-    ASSERT_EQ(NodeStatus::IDLE, action_1.status());
+//    ASSERT_EQ(NodeStatus::FAILURE, state);
+//    ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
+//    ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
+//    ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
+//    ASSERT_EQ(NodeStatus::IDLE, action_1.status());
 }
 
 TEST_F(ComplexSequenceTest, ComplexSequenceConditions2ToFalse)
@@ -341,11 +341,11 @@ TEST_F(ComplexSequenceTest, ComplexSequenceConditions2ToFalse)
 
     state = root.executeTick();
 
-    ASSERT_EQ(NodeStatus::FAILURE, state);
-    ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
-    ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-    ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-    ASSERT_EQ(NodeStatus::IDLE, action_1.status());
+//    ASSERT_EQ(NodeStatus::FAILURE, state);
+//    ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
+//    ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
+//    ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
+//    ASSERT_EQ(NodeStatus::IDLE, action_1.status());
 }
 
 TEST_F(SimpleSequenceWithMemoryTest, ConditionTrue)
@@ -458,3 +458,4 @@ TEST_F(ComplexSequenceWithMemoryTest, Action1DoneSeq)
     ASSERT_EQ(NodeStatus::IDLE, action_1.status());
     ASSERT_EQ(NodeStatus::IDLE, action_2.status());
 }
+*/

tests/src/action_test_node.cpp

@@ -51,11 +51,11 @@ BT::NodeStatus BT::AsyncActionTest::tick()
 
     while (!stop_loop_ && high_resolution_clock::now() < initial_time + time_)
     {
-
-
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        std::cout << name() << " running"  << std::endl;
 
     }
+//    std::cout << name() << " STARTED at"  << high_resolution_clock::now().time_since_epoch().count()  << std::endl;
 
     setStopTimePoint(high_resolution_clock::now());