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gtest_while_do_else.cpp
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297 lines (255 loc) · 8.91 KB
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/* Copyright (C) 2020-2025 Davide Faconti - 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 "test_helper.hpp"
#include "behaviortree_cpp/bt_factory.h"
#include <gtest/gtest.h>
using BT::NodeStatus;
class WhileDoElseTest : public testing::Test
{
protected:
BT::BehaviorTreeFactory factory;
std::array<int, 4> counters;
void SetUp() override
{
RegisterTestTick(factory, "Test", counters);
}
};
TEST_F(WhileDoElseTest, ConditionTrue_DoBranch)
{
// When condition is true, execute the "do" branch
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<WhileDoElse>
<AlwaysSuccess/> <!-- condition -->
<TestA/> <!-- do -->
<TestB/> <!-- else -->
</WhileDoElse>
</BehaviorTree>
</root>)";
auto tree = factory.createTreeFromText(xml_text);
auto status = tree.tickWhileRunning();
ASSERT_EQ(status, NodeStatus::SUCCESS);
ASSERT_EQ(counters[0], 1); // TestA executed
ASSERT_EQ(counters[1], 0); // TestB not executed
}
TEST_F(WhileDoElseTest, ConditionFalse_ElseBranch)
{
// When condition is false, execute the "else" branch
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<WhileDoElse>
<AlwaysFailure/> <!-- condition -->
<TestA/> <!-- do -->
<TestB/> <!-- else -->
</WhileDoElse>
</BehaviorTree>
</root>)";
auto tree = factory.createTreeFromText(xml_text);
auto status = tree.tickWhileRunning();
ASSERT_EQ(status, NodeStatus::SUCCESS);
ASSERT_EQ(counters[0], 0); // TestA not executed
ASSERT_EQ(counters[1], 1); // TestB executed
}
TEST_F(WhileDoElseTest, ConditionFalse_TwoChildren_ReturnsFailure)
{
// With only 2 children and condition false, return FAILURE
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<WhileDoElse>
<AlwaysFailure/> <!-- condition -->
<TestA/> <!-- do -->
</WhileDoElse>
</BehaviorTree>
</root>)";
auto tree = factory.createTreeFromText(xml_text);
auto status = tree.tickWhileRunning();
ASSERT_EQ(status, NodeStatus::FAILURE);
ASSERT_EQ(counters[0], 0); // TestA not executed
}
TEST_F(WhileDoElseTest, DoBranchFails)
{
// When do-branch fails, WhileDoElse returns FAILURE
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<WhileDoElse>
<AlwaysSuccess/> <!-- condition -->
<AlwaysFailure/> <!-- do -->
<TestA/> <!-- else -->
</WhileDoElse>
</BehaviorTree>
</root>)";
auto tree = factory.createTreeFromText(xml_text);
auto status = tree.tickWhileRunning();
ASSERT_EQ(status, NodeStatus::FAILURE);
ASSERT_EQ(counters[0], 0); // TestA (else) not executed
}
TEST_F(WhileDoElseTest, ElseBranchFails)
{
// When else-branch fails, WhileDoElse returns FAILURE
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<WhileDoElse>
<AlwaysFailure/> <!-- condition -->
<TestA/> <!-- do -->
<AlwaysFailure/> <!-- else -->
</WhileDoElse>
</BehaviorTree>
</root>)";
auto tree = factory.createTreeFromText(xml_text);
auto status = tree.tickWhileRunning();
ASSERT_EQ(status, NodeStatus::FAILURE);
ASSERT_EQ(counters[0], 0); // TestA (do) not executed
}
TEST_F(WhileDoElseTest, ConditionChanges_HaltsElse)
{
// When condition changes from false to true, else branch should be halted
int condition_counter = 0;
factory.registerSimpleCondition("ToggleCondition", [&condition_counter](BT::TreeNode&) {
return (condition_counter++ == 0) ? NodeStatus::FAILURE : NodeStatus::SUCCESS;
});
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<WhileDoElse>
<ToggleCondition/>
<TestA/>
<TestB/>
</WhileDoElse>
</BehaviorTree>
</root>)";
auto tree = factory.createTreeFromText(xml_text);
// First tick - condition false, executes else (TestB)
auto status = tree.tickWhileRunning();
ASSERT_EQ(status, NodeStatus::SUCCESS);
ASSERT_EQ(counters[0], 0); // TestA not executed
ASSERT_EQ(counters[1], 1); // TestB executed
}
TEST_F(WhileDoElseTest, ConditionChanges_HaltsDo)
{
// When condition changes from true to false, do branch should be halted
int condition_counter = 0;
factory.registerSimpleCondition(
"ToggleCondition2", [&condition_counter](BT::TreeNode&) {
return (condition_counter++ == 0) ? NodeStatus::SUCCESS : NodeStatus::FAILURE;
});
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<WhileDoElse>
<ToggleCondition2/>
<TestA/>
<TestB/>
</WhileDoElse>
</BehaviorTree>
</root>)";
auto tree = factory.createTreeFromText(xml_text);
// First tick - condition true, executes do (TestA)
auto status = tree.tickWhileRunning();
ASSERT_EQ(status, NodeStatus::SUCCESS);
ASSERT_EQ(counters[0], 1); // TestA executed
ASSERT_EQ(counters[1], 0); // TestB not executed
}
TEST_F(WhileDoElseTest, HaltBehavior)
{
// Test that halt resets the node properly
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<WhileDoElse>
<AlwaysSuccess/>
<TestA/>
<TestB/>
</WhileDoElse>
</BehaviorTree>
</root>)";
auto tree = factory.createTreeFromText(xml_text);
// First execution
auto status = tree.tickWhileRunning();
ASSERT_EQ(status, NodeStatus::SUCCESS);
ASSERT_EQ(counters[0], 1);
// Halt and re-execute
tree.haltTree();
status = tree.tickWhileRunning();
ASSERT_EQ(status, NodeStatus::SUCCESS);
ASSERT_EQ(counters[0], 2); // TestA executed again
}
TEST_F(WhileDoElseTest, InvalidChildCount_One)
{
// WhileDoElse with only 1 child should throw
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<WhileDoElse>
<AlwaysSuccess/>
</WhileDoElse>
</BehaviorTree>
</root>)";
auto tree = factory.createTreeFromText(xml_text);
// Throws LogicError, wrapped in NodeExecutionError with backtrace
ASSERT_THROW(tree.tickWhileRunning(), BT::BehaviorTreeException);
}
TEST_F(WhileDoElseTest, InvalidChildCount_Four)
{
// WhileDoElse with 4 children should throw
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<WhileDoElse>
<AlwaysSuccess/>
<TestA/>
<TestB/>
<TestC/>
</WhileDoElse>
</BehaviorTree>
</root>)";
auto tree = factory.createTreeFromText(xml_text);
// Throws LogicError, wrapped in NodeExecutionError with backtrace
ASSERT_THROW(tree.tickWhileRunning(), BT::BehaviorTreeException);
}
TEST_F(WhileDoElseTest, ConditionRunning)
{
// Test behavior when condition returns RUNNING
bool first_tick = true;
factory.registerSimpleCondition("RunningThenSuccess", [&first_tick](BT::TreeNode&) {
if(first_tick)
{
first_tick = false;
return NodeStatus::RUNNING;
}
return NodeStatus::SUCCESS;
});
const std::string xml_text = R"(
<root BTCPP_format="4">
<BehaviorTree>
<WhileDoElse>
<RunningThenSuccess/>
<TestA/>
<TestB/>
</WhileDoElse>
</BehaviorTree>
</root>)";
auto tree = factory.createTreeFromText(xml_text);
// First tick - condition returns RUNNING
auto status = tree.tickOnce();
ASSERT_EQ(status, NodeStatus::RUNNING);
ASSERT_EQ(counters[0], 0); // TestA not executed yet
ASSERT_EQ(counters[1], 0); // TestB not executed yet
// Second tick - condition returns SUCCESS, executes do branch
status = tree.tickWhileRunning();
ASSERT_EQ(status, NodeStatus::SUCCESS);
ASSERT_EQ(counters[0], 1); // TestA executed
}