Add more fallback tests

Author: rhaschke

core/test/test_fallback.cpp

@@ -70,19 +70,53 @@ TEST_F(FallbacksFixturePropagate, ComputeFirstSuccessfulStageOnly) {
 }
 
 TEST_F(FallbacksFixturePropagate, ComputeFirstSuccessfulStagePerSolutionOnly) {
+	t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 2.0, 1.0 })));
+	// duplicate generator solutions with resulting costs: 4, 2 | 3, 1
+	t.add(std::make_unique<ForwardMockup>(PredefinedCosts({ 2.0, 0.0, 2.0, 0.0 }), 2));
+
+	auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
+	fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF, INF, 110.0, 120.0 })));
+	fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts({ 210.0, 220.0, 0, 0 })));
+	t.add(std::move(fallbacks));
+
+	EXPECT_TRUE(t.plan());
+	EXPECT_COSTS(t.solutions(), testing::ElementsAre(113, 124, 211, 222));
+}
+
+TEST_F(FallbacksFixturePropagate, UpdateSolutionOrder) {
+	t.add(std::make_unique<BackwardMockup>(PredefinedCosts({ 10.0, 0.0 })));
 	t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 1.0, 2.0 })));
+	// available solutions (sorted) in individual runs of fallbacks: 1 | 11, 2 | 2, 11
+
+	// use a fallback container to delay computation twice: only the last child succeeds
+	auto inner = std::make_unique<Fallbacks>("Inner");
+	inner->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF }, false)));
+	inner->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF }, false)));
+	inner->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
 
 	auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
-	fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF, 10.0 })));
-	fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts({ 20.0, INF })));
-	auto fwd1 = fallbacks->findChild("FWD1");
-	auto fwd2 = fallbacks->findChild("FWD2");
+	fallbacks->add(std::move(inner));
+	t.add(std::move(fallbacks));
+
+	EXPECT_TRUE(t.plan(1));  // only return 1st solution
+	EXPECT_COSTS(t.solutions(), testing::ElementsAre(2));  // expecting less costly solution as result
+}
+
+TEST_F(FallbacksFixturePropagate, MultipleActivePendingStates) {
+	t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 2.0, 1.0, 3.0 })));
+	// use a fallback container to delay computation: the 1st child never succeeds, but only the 2nd
+	auto inner = std::make_unique<Fallbacks>("Inner");
+	inner->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF }, false)));  // always fail
+	inner->add(std::make_unique<ForwardMockup>(PredefinedCosts({ 10.0, INF, 30.0 })));
+
+	auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
+	fallbacks->add(std::move(inner));
+	fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF })));
 	t.add(std::move(fallbacks));
 
 	EXPECT_TRUE(t.plan());
-	EXPECT_COSTS(t.solutions(), testing::ElementsAre(12, 21));
-	EXPECT_EQ(fwd1->solutions().size(), 1u);
-	EXPECT_EQ(fwd2->solutions().size(), 1u);
+	EXPECT_COSTS(t.solutions(), testing::ElementsAre(11, 33));
+	// check that first solution is not marked as pruned
 }
 
 TEST_F(FallbacksFixturePropagate, successfulWithMixedSolutions) {
@@ -128,14 +162,28 @@ TEST_F(FallbacksFixturePropagate, ActiveChildReset) {
 using FallbacksFixtureConnect = TaskTestBase;
 
 TEST_F(FallbacksFixtureConnect, ConnectStageInsideFallbacks) {
-	t.add(std::make_unique<GeneratorMockup>());
+	t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 1.0, 2.0 })));
 
 	auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
-	fallbacks->add(std::make_unique<ConnectMockup>());
+	fallbacks->add(std::make_unique<ConnectMockup>(PredefinedCosts::constant(0.0)));
+	fallbacks->add(std::make_unique<ConnectMockup>(PredefinedCosts::constant(100.0)));
 	t.add(std::move(fallbacks));
 
-	t.add(std::make_unique<GeneratorMockup>());
+	t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 10.0, 20.0 })));
 
 	EXPECT_TRUE(t.plan());
-	EXPECT_EQ(t.numSolutions(), 1u);
+	EXPECT_COSTS(t.solutions(), testing::ElementsAre(11, 12, 21, 22));
+}
+
+int main(int argc, char** argv) {
+	for (int i = 1; i < argc; ++i) {
+		if (strcmp(argv[i], "--debug") == 0) {
+			if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug))
+				ros::console::notifyLoggerLevelsChanged();
+			break;
+		}
+	}
+
+	testing::InitGoogleTest(&argc, argv);
+	return RUN_ALL_TESTS();
 }