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Don't restart SequenceStar on halt #329

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Merged
merged 3 commits into from
Mar 6, 2022
Merged

Don't restart SequenceStar on halt #329

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a6f5750
Add more SequenceStar tests
Affonso-Gui Jan 19, 2022
1588469
Fix typo in test name
Affonso-Gui Jan 19, 2022
c5047a9
Don't reset SequenceStar on halt
Affonso-Gui Jan 19, 2022
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2 changes: 1 addition & 1 deletion src/controls/sequence_star_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ NodeStatus SequenceStarNode::tick()

void SequenceStarNode::halt()
{
current_child_idx_ = 0;
// DO NOT reset current_child_idx_ on halt
ControlNode::halt();
}

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88 changes: 87 additions & 1 deletion tests/gtest_sequence.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -387,7 +387,7 @@ TEST_F(ComplexSequenceWithMemoryTest, ConditionsTrue)
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
}

TEST_F(ComplexSequenceWithMemoryTest, Conditions1ToFase)
TEST_F(ComplexSequenceWithMemoryTest, Conditions1ToFalse)
{
BT::NodeStatus state = root.executeTick();

Expand Down Expand Up @@ -458,3 +458,89 @@ TEST_F(ComplexSequenceWithMemoryTest, Action1DoneSeq)
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
}

TEST_F(ComplexSequenceWithMemoryTest, Action2FailureSeq)
{
root.executeTick();
std::this_thread::sleep_for(milliseconds(150));
root.executeTick();

ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
ASSERT_EQ(NodeStatus::RUNNING, action_2.status());

action_2.setExpectedResult(NodeStatus::FAILURE);
std::this_thread::sleep_for(milliseconds(150));
root.executeTick();

// failure in action_2 does not affect the state of already
// executed nodes (seq_conditions and action_1)
ASSERT_EQ(NodeStatus::FAILURE, root.status());
ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
ASSERT_EQ(NodeStatus::IDLE, seq_actions.status());
ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());

action_2.setExpectedResult(NodeStatus::SUCCESS);
root.executeTick();

ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
ASSERT_EQ(NodeStatus::RUNNING, action_2.status());

std::this_thread::sleep_for(milliseconds(150));
root.executeTick();

ASSERT_EQ(NodeStatus::SUCCESS, root.status());
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, seq_actions.status());
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
}

TEST_F(ComplexSequenceWithMemoryTest, Action2HaltSeq)
{
root.executeTick();
std::this_thread::sleep_for(milliseconds(150));
root.executeTick();

root.halt();

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, seq_actions.status());
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());

root.executeTick();

// tree retakes execution from action_2
ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::RUNNING, action_2.status());

std::this_thread::sleep_for(milliseconds(150));
root.executeTick();

ASSERT_EQ(NodeStatus::SUCCESS, root.status());
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, seq_actions.status());
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
ASSERT_EQ(NodeStatus::IDLE, action_2.status());
}