gtests completed

Author: miccol

tests/CMakeLists.txt

@@ -17,6 +17,7 @@ set(BT_TESTS
   navigation_test.cpp
   gtest_subtree.cpp
   gtest_reactive_sequence.cpp
+  gtest_reactive_fallback.cpp
   gtest_reactive_tree.cpp
 
 )

tests/gtest_fallback.cpp

@@ -38,29 +38,6 @@ struct SimpleFallbackTest : testing::Test
     }
 };
 
-struct ReactiveFallbackTest : testing::Test
-{
-    BT::ReactiveFallback root;
-    BT::ConditionTestNode condition_1;
-    BT::ConditionTestNode condition_2;
-    BT::AsyncActionTest action_1;
-
-    ReactiveFallbackTest()
-      : root("root_first")
-      , condition_1("condition_1")
-      , condition_2("condition_2")
-      , action_1("action_1", milliseconds(100) )
-    {
-        root.addChild(&condition_1);
-        root.addChild(&condition_2);
-        root.addChild(&action_1);
-    }
-    ~ReactiveFallbackTest()
-    {
-        haltAllActions(&root);
-    }
-};
-
 struct SimpleFallbackWithMemoryTest : testing::Test
 {
     BT::FallbackNode root;
@@ -152,49 +129,6 @@ TEST_F(SimpleFallbackTest, ConditionChangeWhileRunning)
     ASSERT_EQ(NodeStatus::RUNNING, action.status());
 }
 
-TEST_F(ReactiveFallbackTest, Condition1ToTrue)
-{
-    condition_1.setBoolean(false);
-    condition_2.setBoolean(false);
-
-    BT::NodeStatus state = root.executeTick();
-
-    ASSERT_EQ(NodeStatus::RUNNING, state);
-    ASSERT_EQ(NodeStatus::FAILURE, condition_1.status());
-    ASSERT_EQ(NodeStatus::FAILURE, condition_2.status());
-    ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
-
-    condition_1.setBoolean(true);
-
-    state = root.executeTick();
-
-//    ASSERT_EQ(NodeStatus::SUCCESS, state);
-//    ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-//    ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-//    ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-}
-
-TEST_F(ReactiveFallbackTest, Condition2ToTrue)
-{
-    condition_1.setBoolean(false);
-    condition_2.setBoolean(false);
-
-    BT::NodeStatus state = root.executeTick();
-
-    ASSERT_EQ(NodeStatus::RUNNING, state);
-    ASSERT_EQ(NodeStatus::FAILURE, condition_1.status());
-    ASSERT_EQ(NodeStatus::FAILURE, condition_2.status());
-    ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
-
-    condition_2.setBoolean(true);
-
-    state = root.executeTick();
-
-//    ASSERT_EQ(NodeStatus::SUCCESS, state);
-//    ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-//    ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-//    ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-}
 
 TEST_F(SimpleFallbackWithMemoryTest, ConditionFalse)
 {

tests/gtest_reactive_fallback.cpp

@@ -0,0 +1,222 @@
+
+/* Copyright (C) 2015-2019 Michele Colledanchise - All Rights Reserved
+*
+*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
+*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+*   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:
+*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+*
+*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+*   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,
+*   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.
+*/
+
+#include <gtest/gtest.h>
+#include "action_test_node.h"
+#include "condition_test_node.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/loggers/bt_cout_logger.h"
+#include "behaviortree_cpp/bt_factory.h"
+
+using BT::NodeStatus;
+using std::chrono::milliseconds;
+
+
+struct ReactiveFallbackTest : testing::Test
+{
+    BT::ReactiveFallback root;
+    BT::ConditionTestNode condition_1;
+    BT::ConditionTestNode condition_2;
+    BT::AsyncActionTest action_1;
+
+    ReactiveFallbackTest()
+      : root("root_first")
+      , condition_1("condition_1")
+      , condition_2("condition_2")
+      , action_1("action_1", milliseconds(100) )
+    {
+        root.addChild(&condition_1);
+        root.addChild(&condition_2);
+        root.addChild(&action_1);
+    }
+    ~ReactiveFallbackTest()
+    {
+        haltAllActions(&root);
+    }
+};
+
+
+struct ReactiveFallback2ActionsTest : testing::Test
+{
+    BT::ReactiveFallback root;
+    BT::AsyncActionTest action_1;
+    BT::AsyncActionTest action_2;
+
+    ReactiveFallback2ActionsTest()
+      : root("root_Fallback")
+      , action_1("action_1", milliseconds(100))
+      , action_2("action_2", milliseconds(100))
+    {
+        root.addChild(&action_1);
+        root.addChild(&action_2);
+    }
+    ~ReactiveFallback2ActionsTest()
+    {
+        haltAllActions(&root);
+    }
+};
+
+struct ComplexReactiveFallback2ActionsTest : testing::Test
+{
+    BT::ReactiveFallback root;
+    BT::AsyncActionTest action_1;
+    BT::AsyncActionTest action_2;
+    BT::ReactiveFallback seq_1;
+    BT::ReactiveFallback seq_2;
+
+    BT::ConditionTestNode condition_1;
+    BT::ConditionTestNode condition_2;
+
+    ComplexReactiveFallback2ActionsTest()
+      : root("root_Fallback")
+      , action_1("action_1", milliseconds(100))
+      , action_2("action_2", milliseconds(100))
+      , seq_1("Fallback_1")
+      , seq_2("Fallback_2")
+      , condition_1("condition_1")
+      , condition_2("condition_2")
+    {
+        root.addChild(&seq_1);
+        {
+            seq_1.addChild(&condition_1);
+            seq_1.addChild(&action_1);
+        }
+        root.addChild(&seq_2);
+        {
+            seq_2.addChild(&condition_2);
+            seq_2.addChild(&action_2);
+        }
+    }
+    ~ComplexReactiveFallback2ActionsTest()
+    {
+        haltAllActions(&root);
+    }
+};
+
+
+
+/****************TESTS START HERE***************************/
+
+TEST_F(ReactiveFallbackTest, Condition1ToTrue)
+{
+    condition_1.setBoolean(false);
+    condition_2.setBoolean(false);
+
+    BT::NodeStatus state = root.executeTick();
+
+    ASSERT_EQ(NodeStatus::RUNNING, state);
+    ASSERT_EQ(NodeStatus::FAILURE, condition_1.status());
+    ASSERT_EQ(NodeStatus::FAILURE, condition_2.status());
+    ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
+
+    condition_1.setBoolean(true);
+
+    state = root.executeTick();
+
+    ASSERT_EQ(NodeStatus::SUCCESS, state);
+    ASSERT_EQ(NodeStatus::SUCCESS, condition_1.status());
+    ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
+    ASSERT_EQ(NodeStatus::IDLE, action_1.status());
+}
+
+TEST_F(ReactiveFallbackTest, Condition2ToTrue)
+{
+    condition_1.setBoolean(false);
+    condition_2.setBoolean(false);
+
+    BT::NodeStatus state = root.executeTick();
+
+    ASSERT_EQ(NodeStatus::RUNNING, state);
+    ASSERT_EQ(NodeStatus::FAILURE, condition_1.status());
+    ASSERT_EQ(NodeStatus::FAILURE, condition_2.status());
+    ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
+
+    condition_2.setBoolean(true);
+
+    state = root.executeTick();
+
+    ASSERT_EQ(NodeStatus::SUCCESS, state);
+    ASSERT_EQ(NodeStatus::FAILURE, condition_1.status());
+    ASSERT_EQ(NodeStatus::SUCCESS, condition_2.status());
+    ASSERT_EQ(NodeStatus::IDLE, action_1.status());
+}
+
+TEST_F(ReactiveFallback2ActionsTest, Actions)
+{
+
+    root.executeTick();
+
+    ASSERT_EQ(NodeStatus::RUNNING, root.status());
+    ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
+    ASSERT_EQ(NodeStatus::IDLE, action_2.status());
+
+    std::this_thread::sleep_for(milliseconds(1000));
+
+    ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
+
+    root.executeTick();
+
+    ASSERT_EQ(NodeStatus::SUCCESS, root.status());
+    ASSERT_EQ(NodeStatus::IDLE, action_1.status());
+    ASSERT_EQ(NodeStatus::IDLE, action_2.status());
+
+    root.executeTick();
+
+    ASSERT_EQ(NodeStatus::RUNNING, root.status());
+    ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
+    ASSERT_EQ(NodeStatus::IDLE, action_2.status());
+
+}
+
+
+
+TEST_F(ComplexReactiveFallback2ActionsTest, ConditionsTrue)
+{
+    BT::NodeStatus state = root.executeTick();
+
+    state = root.executeTick();
+
+    ASSERT_EQ(NodeStatus::SUCCESS, state);
+    ASSERT_EQ(NodeStatus::SUCCESS, seq_1.status());
+    ASSERT_EQ(NodeStatus::SUCCESS, condition_1.status());
+    ASSERT_EQ(NodeStatus::IDLE, 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::SUCCESS, state);
+    ASSERT_EQ(NodeStatus::SUCCESS, seq_1.status());
+    ASSERT_EQ(NodeStatus::SUCCESS, condition_1.status());
+    ASSERT_EQ(NodeStatus::IDLE, 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::SUCCESS, state);
+    ASSERT_EQ(NodeStatus::SUCCESS, seq_1.status());
+    ASSERT_EQ(NodeStatus::SUCCESS, condition_1.status());
+    ASSERT_EQ(NodeStatus::IDLE, action_1.status());
+    ASSERT_EQ(NodeStatus::IDLE, seq_2.status());
+    ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
+    ASSERT_EQ(NodeStatus::IDLE, action_2.status());
+}
+
+
+