Function TEST

tests/gtest_reactive_backchaining.cpp:67–122

//--------------------------

TEST(ReactiveBackchaining, EnsureWarm)
{
  // This test shows the basic structure of a PPA: a fallback
  // of a postcondition and an action to make that
  //  postcondition true.
  static const char* xml_text = R"(
  <root BTCPP_format="4">
    <BehaviorTree ID="EnsureWarm">
      <ReactiveFallback>
        <IsWarm name="warm"/>
        <ReactiveSequence>
          <IsHoldingJacket name="jacket" />
          <WearJacket name="wear" />
        </ReactiveSequence>
      </ReactiveFallback>
    </BehaviorTree>
  </root>
  )";

  // The final condition of the PPA; the thing that make_warm achieves.
  // For this example, we're only warm after WearJacket returns success.
  BehaviorTreeFactory factory;
  factory.registerNodeType<SimpleCondition>("IsWarm", "is_warm");
  factory.registerNodeType<SimpleCondition>("IsHoldingJacket", "holding_jacket");
  factory.registerNodeType<AsyncTestAction>("WearJacket", "is_warm");

  Tree tree = factory.createTreeFromText(xml_text);
  BT::TreeObserver observer(tree);

  auto& blackboard = tree.subtrees.front()->blackboard;
  blackboard->set("is_warm", false);
  blackboard->set("holding_jacket", true);

  // first tick: not warm, have a jacket: start wearing it
  EXPECT_EQ(tree.tickExactlyOnce(), NodeStatus::RUNNING);
  EXPECT_FALSE(blackboard->get<bool>("is_warm"));

  // second tick: not warm (still wearing)
  EXPECT_EQ(tree.tickExactlyOnce(), NodeStatus::RUNNING);
  EXPECT_FALSE(blackboard->get<bool>("is_warm"));

  // third tick: warm (wearing succeeded)
  EXPECT_EQ(tree.tickExactlyOnce(), NodeStatus::SUCCESS);
  EXPECT_TRUE(blackboard->get<bool>("is_warm"));

  // fourth tick: still warm (just the condition ticked)
  EXPECT_EQ(tree.tickExactlyOnce(), NodeStatus::SUCCESS);

  EXPECT_EQ(observer.getStatistics("warm").failure_count, 3);
  EXPECT_EQ(observer.getStatistics("warm").success_count, 1);

  EXPECT_EQ(observer.getStatistics("jacket").transitions_count, 3);
  EXPECT_EQ(observer.getStatistics("jacket").success_count, 3);

  EXPECT_EQ(observer.getStatistics("wear").success_count, 1);
}

TEST(ReactiveBackchaining, EnsureWarmWithEnsureHoldingHacket)