btsk/BehaviorTreeShared.cpp at master · aigamedev/btsk · GitHub

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/******************************************************************************

* This file is part of the Behavior Tree Starter Kit.

* Credits: Alex J. Champandard

*****************************************************************************/

#include <vector>

#include "Shared.h"

#include "Test.h"

namespace bt2

{

// ============================================================================

class Node;

class Task;

enum Status

{

BH_INVALID,

BH_SUCCESS,

BH_FAILURE,

BH_RUNNING,

};

class Node

{

public:

virtual Task* create() = 0;

virtual void destroy(Task*) = 0;

virtual ~Node() {}

};

class Task

{

public:

Task(Node& node)

: m_pNode(&node)

{

}

virtual ~Task() {}

virtual Status update() = 0;

virtual void onInitialize() {}

virtual void onTerminate(Status) {}

protected:

Node* m_pNode;

};

class Behavior

{

protected:

Task* m_pTask;

Node* m_pNode;

Status m_eStatus;

public:

Behavior()

: m_pTask(NULL)

, m_pNode(NULL)

, m_eStatus(BH_INVALID)

{

}

Behavior(Node& node)

: m_pTask(NULL)

, m_pNode(NULL)

, m_eStatus(BH_INVALID)

{

setup(node);

}

~Behavior()

{

m_eStatus = BH_INVALID;

teardown();

}

void setup(Node& node)

{

teardown();

m_pNode = &node;

m_pTask = node.create();

}

void teardown()

{

if (m_pTask == NULL)

{

return;

}

ASSERT(m_eStatus != BH_RUNNING);

m_pNode->destroy(m_pTask);

m_pTask = NULL;

}

Status tick()

{

if (m_eStatus == BH_INVALID)

{

m_pTask->onInitialize();

}

m_eStatus = m_pTask->update();

if (m_eStatus != BH_RUNNING)

{

m_pTask->onTerminate(m_eStatus);

}

return m_eStatus;

}

template <class TASK>

TASK* get() const

{

// NOTE: It's safe to static_cast, the caller almost

// always knows what kind of task type it is.

return dynamic_cast<TASK*>(m_pTask);

}

};

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

struct MockTask : public Task

{

int m_iInitializeCalled;

int m_iTerminateCalled;

int m_iUpdateCalled;

Status m_eReturnStatus;

Status m_eTerminateStatus;

MockTask(Node& node)

: Task(node)

, m_iInitializeCalled(0)

, m_iTerminateCalled(0)

, m_iUpdateCalled(0)

, m_eReturnStatus(BH_RUNNING)

, m_eTerminateStatus(BH_INVALID)

{

}

virtual void onInitialize()

{

++m_iInitializeCalled;

}

virtual void onTerminate(Status s)

{

++m_iTerminateCalled;

m_eTerminateStatus = s;

}

virtual Status update()

{

++m_iUpdateCalled;

return m_eReturnStatus;

}

};

struct MockNode : public Node

{

virtual void destroy(Task*) {}

virtual Task* create()

{

m_pTask = new MockTask(*this);

return m_pTask;

}

virtual ~MockNode()

{

delete m_pTask;

}

MockNode()

: m_pTask(NULL)

{

}

MockTask* m_pTask;

};

TEST(StarterKit3, TaskInitialize)

{

MockNode n;

Behavior b(n);

MockTask* t = b.get<MockTask>();

CHECK_EQUAL(0, t->m_iInitializeCalled);

b.tick();

CHECK_EQUAL(1, t->m_iInitializeCalled);

};

TEST(StarterKit3, TaskUpdate)

{

MockNode n;

Behavior b(n);

MockTask* t = b.get<MockTask>();

CHECK_EQUAL(0, t->m_iUpdateCalled);

b.tick();

CHECK_EQUAL(1, t->m_iUpdateCalled);

};

TEST(StarterKit3, TaskTerminate)

{

MockNode n;

Behavior b(n);

b.tick();

MockTask* t = b.get<MockTask>();

CHECK_EQUAL(0, t->m_iTerminateCalled);

t->m_eReturnStatus = BH_SUCCESS;

b.tick();

CHECK_EQUAL(1, t->m_iTerminateCalled);

};

// ============================================================================

typedef std::vector<Node*> Nodes;

class Composite : public Node

{

public:

Nodes m_Children;

};

class Sequence : public Task

{

public:

Sequence(Composite& node)

: Task(node)

{

}

Composite& getNode()

{

return *static_cast<Composite*>(m_pNode);

}

virtual void onInitialize()

{

m_CurrentChild = getNode().m_Children.begin();

m_CurrentBehavior.setup(**m_CurrentChild);

}

virtual Status update()

{

for (;;)

{

Status s = m_CurrentBehavior.tick();

if (s != BH_SUCCESS)

{

return s;

}

if (++m_CurrentChild == getNode().m_Children.end())

{

return BH_SUCCESS;

}

m_CurrentBehavior.setup(**m_CurrentChild);

}

protected:

Nodes::iterator m_CurrentChild;

Behavior m_CurrentBehavior;

};

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

template <class TASK>

class MockComposite : public Composite

{

public:

MockComposite(size_t size)

{

for (size_t i=0; i<size; ++i)

{

m_Children.push_back(new MockNode);

}

~MockComposite()

{

for (size_t i=0; i<m_Children.size(); ++i)

{

delete m_Children[i];

}

MockTask& operator[](size_t index)

{

ASSERT(index < m_Children.size());

MockTask* task = static_cast<MockNode*>(m_Children[index])->m_pTask;

ASSERT(task != NULL);

return *task;

}

virtual Task* create()

{

return new TASK(*this);

}

virtual void destroy(Task* task)

{

delete task;

}

};

typedef MockComposite<Sequence> MockSequence;

TEST(StarterKit3, SequenceTwoFails)

{

MockSequence seq(2);

Behavior bh(seq);

CHECK_EQUAL(bh.tick(), BH_RUNNING);

CHECK_EQUAL(0, seq[0].m_iTerminateCalled);

seq[0].m_eReturnStatus = BH_FAILURE;

CHECK_EQUAL(bh.tick(), BH_FAILURE);

CHECK_EQUAL(1, seq[0].m_iTerminateCalled);

}

TEST(StarterKit3, SequenceTwoContinues)

{

MockSequence seq(2);

Behavior bh(seq);

CHECK_EQUAL(bh.tick(), BH_RUNNING);

CHECK_EQUAL(0, seq[0].m_iTerminateCalled);

seq[0].m_eReturnStatus = BH_SUCCESS;

CHECK_EQUAL(bh.tick(), BH_RUNNING);

CHECK_EQUAL(1, seq[0].m_iTerminateCalled);

}

TEST(StarterKit3, SequenceOnePassThrough)

{

Status status[2] = { BH_SUCCESS, BH_FAILURE };

for (int i=0; i<2; ++i)

{

MockSequence seq(1);

Behavior bh(seq);

CHECK_EQUAL(bh.tick(), BH_RUNNING);

CHECK_EQUAL(0, seq[0].m_iTerminateCalled);

seq[0].m_eReturnStatus = status[i];

CHECK_EQUAL(bh.tick(), status[i]);

CHECK_EQUAL(1, seq[0].m_iTerminateCalled);

}

// ============================================================================

class Selector : public Task

{

public:

Selector(Composite& node)

: Task(node)

{

}

Composite& getNode()

{

return *static_cast<Composite*>(m_pNode);

}

virtual void onInitialize()

{

m_CurrentChild = getNode().m_Children.begin();

m_Behavior.setup(**m_CurrentChild);

}

virtual Status update()

{

for (;;)

{

Status s = m_Behavior.tick();

if (s != BH_FAILURE)

{

return s;

}

if (++m_CurrentChild == getNode().m_Children.end())

{

return BH_FAILURE;

}

m_Behavior.setup(**m_CurrentChild);

}

protected:

Nodes::iterator m_CurrentChild;

Behavior m_Behavior;

};

typedef MockComposite<Selector> MockSelector;

TEST(StarterKit3, SelectorOnePassThrough)

{

Status status[2] = { BH_SUCCESS, BH_FAILURE };

for (int i=0; i<2; ++i)

{

MockSelector sel(1);

Behavior bh(sel);

CHECK_EQUAL(bh.tick(), BH_RUNNING);

CHECK_EQUAL(0, sel[0].m_iTerminateCalled);

sel[0].m_eReturnStatus = status[i];

CHECK_EQUAL(bh.tick(), status[i]);

CHECK_EQUAL(1, sel[0].m_iTerminateCalled);

}

TEST(StarterKit3, SelectorTwoContinues)

{

MockSelector sel(2);

Behavior bh(sel);

CHECK_EQUAL(bh.tick(), BH_RUNNING);

CHECK_EQUAL(0, sel[0].m_iTerminateCalled);

sel[0].m_eReturnStatus = BH_FAILURE;

CHECK_EQUAL(bh.tick(), BH_RUNNING);

CHECK_EQUAL(1, sel[0].m_iTerminateCalled);

}

TEST(StarterKit3, SelectorTwoSucceeds)

{

MockSelector sel(2);

Behavior bh(sel);

CHECK_EQUAL(bh.tick(), BH_RUNNING);

CHECK_EQUAL(0, sel[0].m_iTerminateCalled);

sel[0].m_eReturnStatus = BH_SUCCESS;

CHECK_EQUAL(bh.tick(), BH_SUCCESS);

CHECK_EQUAL(1, sel[0].m_iTerminateCalled);

}

} // namespace bt2

btsk/BehaviorTreeShared.cpp at master · aigamedev/btsk · GitHub

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