Added tests for selector conditional aborts on composites

Author: ashblue

Assets/FluidBehaviorTree/Editor/Testing/ParentTasks/SelectorTest.cs

@@ -225,57 +225,90 @@ public void Returns_continue_if_nested_sequence_condition_is_followed_by_failure
             }
 
             public class ConditionalAbortLowerPrioritySelector {
-                public class AbortTypeSelector : UpdateMethod {
-                    [Test]
-                    public void Revaluates_from_where_a_conditional_abort_goes_from_failure_to_success () {
-                        var sequenceSub = new Sequence();
+                public class AbortTypeSequence : UpdateMethod {
+                    private Sequence sequenceSub;
+                    private ITask childFailure;
+                    private ITask endTask;
+
+                    [SetUp]
+                    public void SetDefaults () {
+                        sequenceSub = new Sequence();
                         sequenceSub.AbortType = AbortType.LowerPriority;
-                        
-                        var childFailure = A.TaskStub()
+
+                        childFailure = A.TaskStub()
                             .WithAbortConditionSelf(true)
                             .WithUpdateStatus(TaskStatus.Failure)
                             .Build();
                         sequenceSub.AddChild(childFailure);
                         sequenceSub.AddChild(A.TaskStub().Build());
 
+                        endTask = A.TaskStub().WithUpdateStatus(TaskStatus.Continue).Build();
+                    }
+
+                    [Test]
+                    public void Revaluates_from_where_a_conditional_abort_goes_from_failure_to_success () {
                         _selector
                             .AddChild(sequenceSub)
-                            .AddChild(A.TaskStub().Build());
+                            .AddChild(endTask);
 
                         _selector.Update();
                         childFailure.Update().Returns(TaskStatus.Success);
                         _selector.Update();
-                        
+
                         CheckUpdateCalls(sequenceSub, new List<int>{3, 1});
                         CheckUpdateCalls(_selector, new List<int>{-1, 1});
                     }
 
                     [Test]
                     public void Returns_success_when_a_conditional_abort_goes_from_failure_to_success () {
-                        var sequenceSub = new Sequence();
-                        sequenceSub.AbortType = AbortType.LowerPriority;
-                        
-                        var childFailure = A.TaskStub()
+                        _selector
+                            .AddChild(sequenceSub)
+                            .AddChild(endTask);
+
+                        Assert.AreEqual(TaskStatus.Continue, _selector.Update());
+                        childFailure.Update().Returns(TaskStatus.Success);
+                        Assert.AreEqual(TaskStatus.Success, _selector.Update());
+                    }
+
+                    [Test]
+                    public void Begins_revaluation_from_origin_of_the_conditional_abort () {
+                        _selector
+                            .AddChild(A.TaskStub().WithUpdateStatus(TaskStatus.Failure).Build())
+                            .AddChild(sequenceSub)
+                            .AddChild(endTask);
+
+                        _selector.Update();
+                        childFailure.Update().Returns(TaskStatus.Success);
+                        _selector.Update();
+
+                        CheckUpdateCalls(sequenceSub, new List<int>{3, 1});
+                        CheckUpdateCalls(_selector, new List<int>{1, -1, 1});
+                    }
+
+                    [Test]
+                    public void Keeps_conditional_aborts_before_the_revaluated_abort () {
+                        var failSequence = new Sequence();
+                        failSequence.AbortType = AbortType.LowerPriority;
+                        failSequence.AddChild(A.TaskStub()
                             .WithAbortConditionSelf(true)
                             .WithUpdateStatus(TaskStatus.Failure)
-                            .Build();
-                        sequenceSub.AddChild(childFailure);
-                        sequenceSub.AddChild(A.TaskStub().Build());
+                            .Build());
 
                         _selector
+                            .AddChild(failSequence)
                             .AddChild(sequenceSub)
-                            .AddChild(A.TaskStub().Build());
+                            .AddChild(endTask);
 
                         _selector.Update();
                         childFailure.Update().Returns(TaskStatus.Success);
-                        
-                        Assert.AreEqual(TaskStatus.Success, _selector.Update());
+                        _selector.Update();
+
+                        Assert.AreEqual(1, _selector.AbortLowerPriorities.Count);
+                        Assert.IsTrue(_selector.AbortLowerPriorities.Contains(failSequence.children[0]));
                     }
-                    
-                    // @TODO Verify nested conditional abort runs from correct starting point (currently tests all children)
                 }
 
-                public class AbortTypeComposite {
+                public class AbortTypeSelector {
                     // @TODO Add composite abort type tests
                 }
             }

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

@@ -5,7 +5,7 @@ namespace Adnc.FluidBT.TaskParents {
     public abstract class CompositeBase : TaskParentBase {
         public ITask SelfAbortTask { get; protected set; }
         public int ChildIndex { get; protected set; }
-        public List<ITask> AbortLowerPriorities { get; } = new List<ITask>();
+        public List<ITask> AbortLowerPriorities { get; protected set; } = new List<ITask>();
 
         public override ITaskParent AddChild (ITask child) {
             if (children.Count == 0 && child.Enabled) {

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

@@ -1,17 +1,31 @@
-using Adnc.FluidBT.Tasks;
+using System.Collections.Generic;
+using Adnc.FluidBT.Tasks;
 
 namespace Adnc.FluidBT.TaskParents {
     public class Selector : CompositeBase {
+        List<int> _lowerPriorityIndices = new List<int>();
+
         protected override TaskStatus OnUpdate () {
+            // @TODO Consider abort self being able to revaluate any immediate child condition that has already been run
             if (AbortSelf(TaskStatus.Success)) {
                 return Update();
             }
-            
+
             foreach (var abort in AbortLowerPriorities) {
                 if (abort.GetAbortStatus() != TaskStatus.Success) continue;
                 children[ChildIndex].End();
+
+                var abortIndex = AbortLowerPriorities.IndexOf(abort);
+                var restoreIndex = _lowerPriorityIndices[abortIndex];
+                var restoreAborts = AbortLowerPriorities.GetRange(0, abortIndex);
+                var restoreAbortIndices = _lowerPriorityIndices.GetRange(0, abortIndex);
+
                 Reset();
-                // @TODO Should use the abort's index to figure out what to revaluate (should not run entire branch)
+
+                ChildIndex = restoreIndex;
+                AbortLowerPriorities = restoreAborts;
+                _lowerPriorityIndices = restoreAbortIndices;
+
                 return Update();
             }
 
@@ -28,8 +42,8 @@ protected override TaskStatus OnUpdate () {
                 if (child.IsLowerPriority) {
                     var abortCondition = child.GetAbortCondition();
                     if (abortCondition != null) {
-                        // @TODO Abort must include the current child index
                         AbortLowerPriorities.Add(abortCondition);
+                        _lowerPriorityIndices.Add(i);
                     }
                 }
 
@@ -43,6 +57,12 @@ public override ITask GetAbortCondition () {
             return this;
         }
 
+        public override void Reset (bool hardReset = false) {
+            _lowerPriorityIndices.Clear();
+
+            base.Reset(hardReset);
+        }
+
         // @TODO Cache the abort children on first run since they will never change
         public override TaskStatus GetAbortStatus () {
             foreach (var child in children) {