LOXMWV3OSAWZFCORHIBGHMCI4OTDQPNYD4CREMLLXIBO24AUI7OQC // Utilities for testing#[cfg(test)]mod tests {use crate::simple_bt::BehaviorRunner;pub(super) struct Context {pub stack: Vec<i32>,}pub(super) fn test_with_context<F>(init_context: F,mut runner: BehaviorRunner<Context>,running_limit: usize,) -> (Option<bool>, Context)whereF: FnOnce() -> Context,{let mut context = init_context();let mut running_count = 0;let mut res = None;while res.is_none() {if running_count >= running_limit {return (None, context);}res = runner.proceed(&mut context);if res.is_none() {running_count += 1;}}(res, context)}}
}}}#[derive(Debug)]struct TwoStepPush {payload: i32,fail: bool,step: usize,}impl BehaviorNode<Context> for TwoStepPush {fn tick(&self, context: &mut Context) -> NodeResult<Context> {if self.step < 1 {NodeResult::Running(Self {payload: self.payload,fail: self.fail,step: self.step + 1,}.arc(),)} else {context.stack.push(self.payload);if self.fail {NodeResult::Failure} else {NodeResult::Success}
fn sequence_resumes_after_tried_node() {let runner = BehaviorRunner::new(vec![TwoStepPush {payload: 1,fail: false,step: 0,}.arc(),TwoStepPush {payload: 2,fail: false,step: 0,}.arc(),].into_iter().collect::<Sequence<_>>().arc(),);let (res, context) = test_with_context(|| Context { stack: Vec::new() }, runner, 10);check!(res == Some(true));check!(context.stack == vec![1, 2]);}#[test]
mod tests {}
mod tests {use assert2::check;use super::*;use crate::simple_bt::{composite::tests::{test_with_context, Context},BehaviorNode, BehaviorRunner, NodeResult,};#[derive(Debug)]struct TwoStepPush {payload: i32,fail: bool,step: usize,}impl BehaviorNode<Context> for TwoStepPush {fn tick(&self, context: &mut Context) -> NodeResult<Context> {if self.step < 1 {NodeResult::Running(Self {payload: self.payload,fail: self.fail,step: self.step + 1,}.arc(),)} else {context.stack.push(self.payload);if self.fail {NodeResult::Failure} else {NodeResult::Success}}}}#[test]fn selector_skips_tried_node() {let runner = BehaviorRunner::new(vec![TwoStepPush {payload: 1,fail: true,step: 0,}.arc(),TwoStepPush {payload: 2,fail: false,step: 0,}.arc(),].into_iter().collect::<Selector<_>>().arc(),);let (res, context) = test_with_context(|| Context { stack: Vec::new() }, runner, 10);check!(res == Some(true));check!(context.stack == vec![1, 2]);}}
match resume.tick(blackboard) {NodeResult::Running(resume) => {return NodeResult::Running(Self {resume: Some(resume),child: self.child.clone(),}.arc(),)}_ => {}}}match self.child.tick(blackboard) {NodeResult::Running(resume) => {
if let NodeResult::Running(resume) = resume.tick(blackboard) {
todo!()
let mut completed = self.completed;if completed >= self.limit {return NodeResult::Success;}if let Some(resume) = self.resume.as_ref() {match resume.tick(blackboard) {NodeResult::Running(resume) => {return NodeResult::Running(Self {resume: Some(resume),child: self.child.clone(),limit: self.limit,completed: self.completed,}.arc(),)}_ => {completed += 1;}}}match self.child.tick(blackboard) {NodeResult::Running(resume) => {return NodeResult::Running(Self {resume: Some(resume),child: self.child.clone(),limit: self.limit,completed,}.arc(),)}_ => {completed += 1;}}// Restart until we've completed the repetitionsNodeResult::Running(Arc::new(Self {child: self.child.clone(),resume: None,limit: self.limit,completed,}))
todo!()
if let Some(resume) = self.resume.as_ref() {match resume.tick(blackboard) {NodeResult::Running(resume) => {return NodeResult::Running(Self {resume: Some(resume),child: self.child.clone(),}.arc(),);}NodeResult::Failure => return NodeResult::Success,_ => (),}}match self.child.tick(blackboard) {NodeResult::Running(resume) => NodeResult::Running(Self {resume: Some(resume),child: self.child.clone(),}.arc(),),NodeResult::Success => {// Restart whenever we succeedNodeResult::Running(Arc::new(Self {child: self.child.clone(),resume: None,}))}NodeResult::Failure => {// We have encounted a failure, so *succeed*NodeResult::Success}}
mod tests {}
mod tests {use crate::simple_bt::{composite::{tests::{test_with_context, Context},Sequence,},BehaviorRunner,};use super::*;use assert2::check;#[derive(Debug)]struct Push1;impl BehaviorNode<Context> for Push1 {fn tick(&self, context: &mut Context) -> NodeResult<Context> {context.stack.push(1);NodeResult::Success}}#[derive(Debug)]struct FibPush;impl BehaviorNode<Context> for FibPush {fn tick(&self, context: &mut Context) -> NodeResult<Context> {if context.stack.len() < 2 {context.stack.push(1);} else {let len = context.stack.len();let a = context.stack[len - 2];let b = context.stack[len - 1];context.stack.push(a + b);}NodeResult::Success}}#[derive(Debug)]struct IsCapped {cap: i32,}impl BehaviorNode<Context> for IsCapped {fn tick(&self, context: &mut Context) -> NodeResult<Context> {if context.stack.iter().any(|v| *v > self.cap) {NodeResult::Failure} else {NodeResult::Success}}}#[test]fn limited_repeat_repeats_to_limit() {let runner = BehaviorRunner::new(LimitedRepeated::new(3, Push1.arc()).arc());let (res, context) = test_with_context(|| Context { stack: Vec::new() }, runner, 4);check!(res == Some(true));check!(context.stack == vec![1, 1, 1]);}#[test]fn repeat_until_failure_stops_on_failure() {let runner = BehaviorRunner::new(RepeatedUntilFailure::new(vec![FibPush.arc(), IsCapped { cap: 100 }.arc()].into_iter().collect::<Sequence<_>>().arc(),).arc(),);let (res, context) = test_with_context(|| Context { stack: Vec::new() }, runner, 12);check!(res == Some(true));check!(context.stack == vec![1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144]);}}
mod tests {}
mod tests {use assert2::check;use super::*;use crate::simple_bt::{composite::{tests::{test_with_context, Context},Succeeder,},BehaviorNode, BehaviorRunner, NodeResult,};#[derive(Debug)]struct SucceedAfterSteps {steps: u32,step: u32,}impl SucceedAfterSteps {fn new(steps: u32) -> Self {Self { steps, step: 0 }}}impl BehaviorNode<Context> for SucceedAfterSteps {fn tick(&self, _context: &mut Context) -> crate::simple_bt::NodeResult<Context> {if self.step < self.steps {NodeResult::Running(Self {steps: self.steps,step: self.step + 1,}.arc(),)} else {NodeResult::Success}}}#[test]fn inverter_inverts_properly() {let runner1 =BehaviorRunner::new(Inverter::<Context>::new(Succeeder::default().arc()).arc());let (res, context) = test_with_context(|| Context { stack: Vec::new() }, runner1, 1);check!(res == Some(false));check!(context.stack == Vec::<i32>::new());let runner2 = BehaviorRunner::new(Inverter::new(SucceedAfterSteps::new(9).arc()).arc());let (res, context) = test_with_context(|| Context { stack: Vec::new() }, runner2, 10);check!(res == Some(false));check!(context.stack == Vec::<i32>::new());}}