func TestNSequenceRoot(t *testing.T) {
blackboard := bgo.CreateBlackboard()
tree := bgo.CreateBehaviorTree("Pruebas", "Test", blackboard)
context := bgo.CreateContext("context1")
context2 := bgo.CreateContext("context1")
context3 := bgo.CreateContext("context1")
tree.Root = bgo.NewSequence("SequenceTest",
bgo.NewPriority("PriorityTest",
NewTestNode("Nodo1", bgo.FAILURE),
NewTestNode("Nodo2", bgo.SUCCESS),
NewTestNode("Nodo3", bgo.SUCCESS)),
NewTestNode("Nodo4", bgo.SUCCESS),
NewTestNode("Nodo5", bgo.SUCCESS))
tree.Tick(context)
tree.Tick(context2)
tree.Tick(context3)
elem, _ := context.GetContextMemory().ArrayString["StatusResponses"]
elem2, _ := context2.GetContextMemory().ArrayString["StatusResponses"]
elem3, _ := context3.GetContextMemory().ArrayString["StatusResponses"]
expected := []string{"Failure", "Success", "Success", "Success"}
if !ArrayEquals(expected, elem) && !ArrayEquals(expected, elem2) && !ArrayEquals(expected, elem3) {
t.Errorf("Error StatusResponses no son iguales a lo experado %s <--->%s -- %s -- %s \r",
expected, elem, elem2, elem3)
} else {
t.Logf("Final status %s -- %s -- %s \r", elem, elem2, elem3)
}
}
func TestPriorityRoot(t *testing.T) {
blackboard := bgo.CreateBlackboard()
tree := bgo.CreateBehaviorTree("Pruebas2", "Test2", blackboard)
context := bgo.CreateContext("")
tree.Root = bgo.NewPriority("PriorityTest",
bgo.NewSequence("SequenceTestA",
NewTestNode("NodoA", bgo.SUCCESS),
NewTestNode("NodoB", bgo.FAILURE),
NewTestNode("NodoC", bgo.SUCCESS)),
bgo.NewSequence("SequenceTestB",
NewTestNode("NodoD", bgo.SUCCESS),
NewTestNode("NodoE", bgo.SUCCESS)),
)
tree.Tick(context)
elem, _ := context.GetContextMemory().ArrayString["StatusResponses"]
expected := []string{"Success", "Failure", "Success", "Success"}
if !ArrayEquals(expected, elem) {
t.Errorf("Error StatusResponses no son iguales a lo experado %s <---> %s", expected, elem)
} else {
t.Logf("Final status %s \r", elem)
}
}
func TestMaxTime(t *testing.T) {
blackboard := bgo.CreateBlackboard()
tree := bgo.CreateBehaviorTree("Pruebas", "Test", blackboard)
context := bgo.CreateContext("")
tree.Root = bgo.NewMaxTime("MaxTimeTest", 200,
NewTestDelayNode("Nodo1", 300),
)
status := tree.Tick(context)
if status == bgo.SUCCESS {
t.Error("Error status no es lo experado ")
} else {
t.Logf("Final status %s \r", status)
}
}
func TestInverter(t *testing.T) {
blackboard := bgo.CreateBlackboard()
tree := bgo.CreateBehaviorTree("Pruebas", "Test", blackboard)
context := bgo.CreateContext("")
tree.Root = bgo.NewInverter("InveterTest",
NewTestNode("Nodo1", bgo.SUCCESS),
)
status := tree.Tick(context)
if status == bgo.SUCCESS {
t.Error("Error status no es lo experado ")
} else {
t.Logf("Final status %s \r", status)
}
}
func TestRepeater(t *testing.T) {
blackboard := bgo.CreateBlackboard()
tree := bgo.CreateBehaviorTree("Pruebas", "Test", blackboard)
context := bgo.CreateContext("")
tree.Root = bgo.NewRepeater("RepeaterTest", 3,
NewTestNode("Nodo1", bgo.FAILURE),
)
tree.Tick(context)
elem, _ := context.GetContextMemory().ArrayString["StatusResponses"]
var expected []string = []string{"Failure", "Failure", "Failure"}
if !ArrayEquals(expected, elem) {
t.Errorf("Error StatusResponses no son iguales a lo experado %s <---> %s", expected, elem)
} else {
t.Logf("Final status %s \r", elem)
}
}