blueshell/dist/test/nodes/LatchedSequence.test.js

A Behavior Tree implementation in modern Javascript

"use strict";
var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
    if (k2 === undefined) k2 = k;
    var desc = Object.getOwnPropertyDescriptor(m, k);
    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
      desc = { enumerable: true, get: function() { return m[k]; } };
    }
    Object.defineProperty(o, k2, desc);
}) : (function(o, m, k, k2) {
    if (k2 === undefined) k2 = k;
    o[k2] = m[k];
}));
var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
    Object.defineProperty(o, "default", { enumerable: true, value: v });
}) : function(o, v) {
    o["default"] = v;
});
var __importStar = (this && this.__importStar) || (function () {
    var ownKeys = function(o) {
        ownKeys = Object.getOwnPropertyNames || function (o) {
            var ar = [];
            for (var k in o) if (Object.prototype.hasOwnProperty.call(o, k)) ar[ar.length] = k;
            return ar;
        };
        return ownKeys(o);
    };
    return function (mod) {
        if (mod && mod.__esModule) return mod;
        var result = {};
        if (mod != null) for (var k = ownKeys(mod), i = 0; i < k.length; i++) if (k[i] !== "default") __createBinding(result, mod, k[i]);
        __setModuleDefault(result, mod);
        return result;
    };
})();
Object.defineProperty(exports, "__esModule", { value: true });
/**
 * Created by josh on 1/15/16.
 */
const chai_1 = require("chai");
const RobotActions_1 = require("./test/RobotActions");
const lib_1 = require("../../lib");
const Behavior = __importStar(require("../../lib"));
class StopMotors extends Behavior.Action {
    // eslint-disable-next-line @typescript-eslint/no-unused-vars
    onEvent(state, event) {
        state.commands.push('motorsStopped');
        return lib_1.rc.SUCCESS;
    }
}
class StopLasers extends Behavior.Action {
    // eslint-disable-next-line @typescript-eslint/no-unused-vars
    onEvent(state, event) {
        const storage = this.getNodeStorage(state);
        storage.cooldown = storage.cooldown ? --storage.cooldown : state.laserCooldownTime;
        let result = lib_1.rc.SUCCESS;
        // console.log('Storage cooldown is ', storage.cooldown);
        if (storage.cooldown > 0) {
            result = lib_1.rc.RUNNING;
        }
        else {
            state.commands.push('lasersCooled');
        }
        return result;
    }
}
class Shutdown extends Behavior.Action {
    // eslint-disable-next-line @typescript-eslint/no-unused-vars
    onEvent(state, event) {
        state.commands.push('powerOff');
        return lib_1.rc.SUCCESS;
    }
}
const shutdownSequence = new Behavior.LatchedSequence('shutdownWithWaitAi', [
    new StopMotors(),
    new StopLasers(),
    new Shutdown(),
]);
describe('LatchedSelector', function () {
    it('should run correctly', function () {
        // With a happy bot
        const botState = new RobotActions_1.RobotState();
        botState.laserCooldownTime = 0;
        const res = shutdownSequence.handleEvent(botState, 'lowBattery');
        chai_1.assert.equal(res, lib_1.rc.SUCCESS, 'Behavior Tree success');
        chai_1.assert.equal(botState.commands.length, 3, 'Need Three Commands');
        chai_1.assert.equal(botState.commands[0], 'motorsStopped');
        chai_1.assert.equal(botState.commands[1], 'lasersCooled');
        chai_1.assert.equal(botState.commands[2], 'powerOff');
    });
    it('should loop correctly', function () {
        // With a happy bot
        const botState = new RobotActions_1.RobotState();
        botState.laserCooldownTime = 1;
        let res = shutdownSequence.handleEvent(botState, 'lowBattery 1');
        chai_1.assert.equal(res, lib_1.rc.RUNNING, 'Behavior Tree Running');
        chai_1.assert.equal(botState.commands.length, 1);
        chai_1.assert.equal(botState.commands[0], 'motorsStopped');
        res = shutdownSequence.handleEvent(botState, 'lowBattery 2');
        chai_1.assert.equal(res, lib_1.rc.SUCCESS, 'Behavior Tree Success');
        chai_1.assert.equal(botState.commands.length, 3, 'Need Three Commands');
        chai_1.assert.equal(botState.commands[0], 'motorsStopped');
        chai_1.assert.equal(botState.commands[1], 'lasersCooled');
        chai_1.assert.equal(botState.commands[2], 'powerOff');
    });
});
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