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Added abort self logic to selector
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2 files changed

+134
-12
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2 files changed

+134
-12
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‎Assets/FluidBehaviorTree/Editor/Testing/ParentTasks/SelectorTest.cs‎

Lines changed: 125 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22
using Adnc.FluidBT.Tasks;
33
using NSubstitute;
44
using System.Collections.Generic;
5+
using NSubstitute.ReturnsExtensions;
56
using NUnit.Framework;
67

78
namespace Adnc.FluidBT.Testing {
@@ -14,6 +15,19 @@ public void SetSelector () {
1415
_selector = new Selector();
1516
}
1617

18+
public void CheckUpdateCalls (List<int> updateCalls) {
19+
for (var i = 0; i < updateCalls.Count; i++) {
20+
var child = _selector.children[i];
21+
child.Received(updateCalls[i]).Update();
22+
}
23+
}
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25+
public class NoNodes : UpdateMethod {
26+
public void Returns_success () {
27+
Assert.AreEqual(TaskStatus.Success, _selector.Update());
28+
}
29+
}
30+
1731
public class SingleNode : UpdateMethod {
1832
[Test]
1933
public void Returns_success_if_a_child_task_returns_success () {
@@ -54,10 +68,7 @@ public void Stops_on_continue () {
5468
_selector.Update();
5569

5670
var updateCalls = new List<int> {1, 1, 0};
57-
for (var i = 0; i < updateCalls.Count; i++) {
58-
var child = _selector.children[i];
59-
child.Received(updateCalls[i]).Update();
60-
}
71+
CheckUpdateCalls(updateCalls);
6172
}
6273

6374
[Test]
@@ -72,10 +83,7 @@ public void Reruns_the_same_node_if_it_returns_continue () {
7283
_selector.Update();
7384

7485
var updateCalls = new List<int> {1, 2};
75-
for (var i = 0; i < updateCalls.Count; i++) {
76-
var child = _selector.children[i];
77-
child.Received(updateCalls[i]).Update();
78-
}
86+
CheckUpdateCalls(updateCalls);
7987
}
8088

8189
[Test]
@@ -103,15 +111,120 @@ public void Stops_on_first_success_node () {
103111
_selector.Update();
104112

105113
var updateCalls = new List<int> {1, 1, 0};
106-
for (var i = 0; i < updateCalls.Count; i++) {
107-
var child = _selector.children[i];
108-
child.Received(updateCalls[i]).Update();
109-
}
114+
CheckUpdateCalls(updateCalls);
110115
}
111116
}
112117

113118
public class ConditionalAbortSelf : UpdateMethod {
119+
public ITask childFailure;
120+
public ITask childContinue;
121+
122+
[SetUp]
123+
public void CreateChildren () {
124+
_selector.AbortType = AbortType.Self;
125+
126+
childFailure = A.TaskStub()
127+
.WithAbortConditionSelf(true)
128+
.WithUpdateStatus(TaskStatus.Failure)
129+
.Build();
130+
131+
childContinue = A.TaskStub()
132+
.WithUpdateStatus(TaskStatus.Continue)
133+
.Build();
134+
}
135+
136+
[Test]
114137
public void Revaultes_first_condition_node_when_it_goes_from_failure_to_success () {
138+
_selector.AddChild(childFailure);
139+
_selector.AddChild(childContinue);
140+
141+
_selector.Update();
142+
childFailure.Update().Returns(TaskStatus.Success);
143+
_selector.Update();
144+
145+
var updateCalls = new List<int> {3, 1};
146+
CheckUpdateCalls(updateCalls);
147+
}
148+
149+
[Test]
150+
public void Does_not_revaluate_if_no_abort_type () {
151+
_selector.AbortType = AbortType.None;
152+
153+
_selector.AddChild(childFailure);
154+
_selector.AddChild(childContinue);
155+
156+
_selector.Update();
157+
childFailure.Update().Returns(TaskStatus.Success);
158+
_selector.Update();
159+
160+
var updateCalls = new List<int> {1, 2};
161+
CheckUpdateCalls(updateCalls);
162+
}
163+
164+
[Test]
165+
public void Does_not_crash_if_self_abort_is_null () {
166+
childFailure.GetAbortCondition().ReturnsNull();
167+
168+
_selector.AddChild(childFailure);
169+
_selector.AddChild(childContinue);
170+
171+
_selector.Update();
172+
childFailure.Update().Returns(TaskStatus.Success);
173+
_selector.Update();
174+
175+
var updateCalls = new List<int> {1, 2};
176+
CheckUpdateCalls(updateCalls);
177+
}
178+
179+
[Test]
180+
public void Returns_true_when_revaluating_abort_condition () {
181+
_selector.AddChild(childFailure);
182+
_selector.AddChild(childContinue);
183+
184+
_selector.Update();
185+
childFailure.Update().Returns(TaskStatus.Success);
186+
187+
Assert.AreEqual(TaskStatus.Success, _selector.Update());
188+
}
189+
190+
[Test]
191+
public void Triggers_reset_on_abort () {
192+
_selector.AddChild(childFailure);
193+
_selector.AddChild(childContinue);
194+
195+
_selector.Update();
196+
childFailure.Update().Returns(TaskStatus.Success);
197+
_selector.Update();
198+
199+
childFailure.Received(1).Reset();
200+
childContinue.Received(1).Reset();
201+
}
202+
203+
[Test]
204+
public void Triggers_end_on_current_task_pointer () {
205+
_selector.AddChild(childFailure);
206+
_selector.AddChild(childContinue);
207+
208+
_selector.Update();
209+
childFailure.Update().Returns(TaskStatus.Success);
210+
_selector.Update();
211+
212+
childContinue.Received(1).End();
213+
}
214+
215+
[Test]
216+
public void Returns_failure_if_nested_condition_is_followed_by_failure_task () {
217+
var nestedSequence = new Sequence()
218+
.AddChild(childFailure)
219+
.AddChild(A.TaskStub().WithUpdateStatus(TaskStatus.Failure).Build());
220+
221+
_selector.AddChild(nestedSequence);
222+
_selector.AddChild(childContinue);
223+
224+
_selector.Update();
225+
childFailure.Update().Returns(TaskStatus.Success);
226+
227+
Assert.AreEqual(TaskStatus.Continue, _selector.Update());
115228
}
116229
}
117230
}

‎Assets/FluidBehaviorTree/Scripts/TaskParents/Composites/Selector.cs‎

Lines changed: 9 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -3,6 +3,15 @@
33
namespace Adnc.FluidBT.TaskParents {
44
public class Selector : CompositeBase {
55
protected override TaskStatus OnUpdate () {
6+
if (AbortType.HasFlag(AbortType.Self)
7+
&& ChildIndex > 0
8+
&& SelfAbortTask != null
9+
&& SelfAbortTask.Update() == TaskStatus.Success) {
10+
children[ChildIndex].End();
11+
Reset();
12+
return Update();
13+
}
14+
615
for (var i = ChildIndex; i < children.Count; i++) {
716
var child = children[ChildIndex];
817

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