From 766afce7eaa27faaa002b92c201fc421f7eecf0c Mon Sep 17 00:00:00 2001 From: Pawel Lampe Date: Tue, 20 Jun 2023 19:17:21 +0200 Subject: [PATCH] Add more basic 'NavigationServer3D' tests --- tests/servers/test_navigation_server_3d.h | 200 +++++++++++++++++++++- 1 file changed, 193 insertions(+), 7 deletions(-) diff --git a/tests/servers/test_navigation_server_3d.h b/tests/servers/test_navigation_server_3d.h index ffd5b83231d..0bb89871d86 100644 --- a/tests/servers/test_navigation_server_3d.h +++ b/tests/servers/test_navigation_server_3d.h @@ -56,7 +56,6 @@ TEST_SUITE("[Navigation]") { TEST_CASE("[NavigationServer3D] Server should manage agent properly") { NavigationServer3D *navigation_server = NavigationServer3D::get_singleton(); - CHECK_EQ(navigation_server->get_maps().size(), 0); RID agent = navigation_server->agent_create(); CHECK(agent.is_valid()); @@ -69,6 +68,7 @@ TEST_SUITE("[Navigation]") { bool initial_use_3d_avoidance = navigation_server->agent_get_use_3d_avoidance(agent); navigation_server->agent_set_use_3d_avoidance(agent, !initial_use_3d_avoidance); navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->agent_get_use_3d_avoidance(agent), !initial_use_3d_avoidance); // TODO: Add remaining setters/getters once the missing getters are added. } @@ -83,20 +83,40 @@ TEST_SUITE("[Navigation]") { navigation_server->agent_set_map(agent, RID()); navigation_server->free(map); navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 0); } navigation_server->free(agent); - - SUBCASE("'ProcessInfo' should not report removed agent") { - CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 0); - } } TEST_CASE("[NavigationServer3D] Server should manage map properly") { NavigationServer3D *navigation_server = NavigationServer3D::get_singleton(); - CHECK_EQ(navigation_server->get_maps().size(), 0); - RID map = navigation_server->map_create(); + RID map; + CHECK_FALSE(map.is_valid()); + + SUBCASE("Queries against invalid map should return empty or invalid values") { + CHECK_EQ(navigation_server->map_get_closest_point(map, Vector3(7, 7, 7)), Vector3()); + CHECK_EQ(navigation_server->map_get_closest_point_normal(map, Vector3(7, 7, 7)), Vector3()); + CHECK_FALSE(navigation_server->map_get_closest_point_owner(map, Vector3(7, 7, 7)).is_valid()); + CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(7, 7, 7), Vector3(8, 8, 8), true), Vector3()); + CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(7, 7, 7), Vector3(8, 8, 8), false), Vector3()); + CHECK_EQ(navigation_server->map_get_path(map, Vector3(7, 7, 7), Vector3(8, 8, 8), true).size(), 0); + CHECK_EQ(navigation_server->map_get_path(map, Vector3(7, 7, 7), Vector3(8, 8, 8), false).size(), 0); + + Ref query_parameters = memnew(NavigationPathQueryParameters3D); + query_parameters->set_map(map); + query_parameters->set_start_position(Vector3(7, 7, 7)); + query_parameters->set_target_position(Vector3(8, 8, 8)); + Ref query_result = memnew(NavigationPathQueryResult3D); + navigation_server->query_path(query_parameters, query_result); + CHECK_EQ(query_result->get_path().size(), 0); + CHECK_EQ(query_result->get_path_types().size(), 0); + CHECK_EQ(query_result->get_path_rids().size(), 0); + CHECK_EQ(query_result->get_path_owner_ids().size(), 0); + } + + map = navigation_server->map_create(); CHECK(map.is_valid()); CHECK_EQ(navigation_server->get_maps().size(), 1); @@ -112,6 +132,7 @@ TEST_SUITE("[Navigation]") { bool initial_use_edge_connections = navigation_server->map_get_use_edge_connections(map); navigation_server->map_set_use_edge_connections(map, !initial_use_edge_connections); navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->map_get_cell_size(map), doctest::Approx(0.55)); CHECK_EQ(navigation_server->map_get_edge_connection_margin(map), doctest::Approx(0.66)); CHECK_EQ(navigation_server->map_get_link_connection_radius(map), doctest::Approx(0.77)); @@ -140,10 +161,175 @@ TEST_SUITE("[Navigation]") { CHECK_EQ(navigation_server->map_get_agents(map).size(), 0); } + SUBCASE("Number of links should be reported properly") { + RID link = navigation_server->link_create(); + CHECK(link.is_valid()); + navigation_server->link_set_map(link, map); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->map_get_links(map).size(), 1); + navigation_server->free(link); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->map_get_links(map).size(), 0); + } + + SUBCASE("Number of obstacles should be reported properly") { + RID obstacle = navigation_server->obstacle_create(); + CHECK(obstacle.is_valid()); + navigation_server->obstacle_set_map(obstacle, map); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->map_get_obstacles(map).size(), 1); + navigation_server->free(obstacle); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->map_get_obstacles(map).size(), 0); + } + + SUBCASE("Number of regions should be reported properly") { + RID region = navigation_server->region_create(); + CHECK(region.is_valid()); + navigation_server->region_set_map(region, map); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->map_get_regions(map).size(), 1); + navigation_server->free(region); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->map_get_regions(map).size(), 0); + } + + SUBCASE("Queries against empty map should return empty or invalid values") { + navigation_server->map_set_active(map, true); + navigation_server->process(0.0); // Give server some cycles to commit. + + CHECK_EQ(navigation_server->map_get_closest_point(map, Vector3(7, 7, 7)), Vector3()); + CHECK_EQ(navigation_server->map_get_closest_point_normal(map, Vector3(7, 7, 7)), Vector3()); + CHECK_FALSE(navigation_server->map_get_closest_point_owner(map, Vector3(7, 7, 7)).is_valid()); + CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(7, 7, 7), Vector3(8, 8, 8), true), Vector3()); + CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(7, 7, 7), Vector3(8, 8, 8), false), Vector3()); + CHECK_EQ(navigation_server->map_get_path(map, Vector3(7, 7, 7), Vector3(8, 8, 8), true).size(), 0); + CHECK_EQ(navigation_server->map_get_path(map, Vector3(7, 7, 7), Vector3(8, 8, 8), false).size(), 0); + + Ref query_parameters = memnew(NavigationPathQueryParameters3D); + query_parameters->set_map(map); + query_parameters->set_start_position(Vector3(7, 7, 7)); + query_parameters->set_target_position(Vector3(8, 8, 8)); + Ref query_result = memnew(NavigationPathQueryResult3D); + navigation_server->query_path(query_parameters, query_result); + CHECK_EQ(query_result->get_path().size(), 0); + CHECK_EQ(query_result->get_path_types().size(), 0); + CHECK_EQ(query_result->get_path_rids().size(), 0); + CHECK_EQ(query_result->get_path_owner_ids().size(), 0); + + navigation_server->map_set_active(map, false); + navigation_server->process(0.0); // Give server some cycles to commit. + } + navigation_server->free(map); navigation_server->process(0.0); // Give server some cycles to actually remove map. CHECK_EQ(navigation_server->get_maps().size(), 0); } + + TEST_CASE("[NavigationServer3D] Server should manage link properly") { + NavigationServer3D *navigation_server = NavigationServer3D::get_singleton(); + + RID link = navigation_server->link_create(); + CHECK(link.is_valid()); + + SUBCASE("'ProcessInfo' should not report dangling link") { + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_LINK_COUNT), 0); + } + + SUBCASE("Setters/getters should work") { + bool initial_bidirectional = navigation_server->link_is_bidirectional(link); + navigation_server->link_set_bidirectional(link, !initial_bidirectional); + navigation_server->link_set_end_position(link, Vector3(7, 7, 7)); + navigation_server->link_set_enter_cost(link, 0.55); + navigation_server->link_set_navigation_layers(link, 6); + navigation_server->link_set_owner_id(link, ObjectID((int64_t)7)); + navigation_server->link_set_start_position(link, Vector3(8, 8, 8)); + navigation_server->link_set_travel_cost(link, 0.66); + navigation_server->process(0.0); // Give server some cycles to commit. + + CHECK_EQ(navigation_server->link_is_bidirectional(link), !initial_bidirectional); + CHECK_EQ(navigation_server->link_get_end_position(link), Vector3(7, 7, 7)); + CHECK_EQ(navigation_server->link_get_enter_cost(link), doctest::Approx(0.55)); + CHECK_EQ(navigation_server->link_get_navigation_layers(link), 6); + CHECK_EQ(navigation_server->link_get_owner_id(link), ObjectID((int64_t)7)); + CHECK_EQ(navigation_server->link_get_start_position(link), Vector3(8, 8, 8)); + CHECK_EQ(navigation_server->link_get_travel_cost(link), doctest::Approx(0.66)); + } + + SUBCASE("'ProcessInfo' should report link with active map") { + RID map = navigation_server->map_create(); + CHECK(map.is_valid()); + navigation_server->map_set_active(map, true); + navigation_server->link_set_map(link, map); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_LINK_COUNT), 1); + navigation_server->link_set_map(link, RID()); + navigation_server->free(map); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_LINK_COUNT), 0); + } + + navigation_server->free(link); + } + + TEST_CASE("[NavigationServer3D] Server should manage obstacles properly") { + NavigationServer3D *navigation_server = NavigationServer3D::get_singleton(); + + RID obstacle = navigation_server->obstacle_create(); + CHECK(obstacle.is_valid()); + + // TODO: Add tests for setters/getters once getters are added. + + navigation_server->free(obstacle); + } + + TEST_CASE("[NavigationServer3D] Server should manage regions properly") { + NavigationServer3D *navigation_server = NavigationServer3D::get_singleton(); + + RID region = navigation_server->region_create(); + CHECK(region.is_valid()); + + SUBCASE("'ProcessInfo' should not report dangling region") { + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_REGION_COUNT), 0); + } + + SUBCASE("Setters/getters should work") { + bool initial_use_edge_connections = navigation_server->region_get_use_edge_connections(region); + navigation_server->region_set_enter_cost(region, 0.55); + navigation_server->region_set_navigation_layers(region, 5); + navigation_server->region_set_owner_id(region, ObjectID((int64_t)7)); + navigation_server->region_set_travel_cost(region, 0.66); + navigation_server->region_set_use_edge_connections(region, !initial_use_edge_connections); + navigation_server->process(0.0); // Give server some cycles to commit. + + CHECK_EQ(navigation_server->region_get_enter_cost(region), doctest::Approx(0.55)); + CHECK_EQ(navigation_server->region_get_navigation_layers(region), 5); + CHECK_EQ(navigation_server->region_get_owner_id(region), ObjectID((int64_t)7)); + CHECK_EQ(navigation_server->region_get_travel_cost(region), doctest::Approx(0.66)); + CHECK_EQ(navigation_server->region_get_use_edge_connections(region), !initial_use_edge_connections); + } + + SUBCASE("'ProcessInfo' should report region with active map") { + RID map = navigation_server->map_create(); + CHECK(map.is_valid()); + navigation_server->map_set_active(map, true); + navigation_server->region_set_map(region, map); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_REGION_COUNT), 1); + navigation_server->region_set_map(region, RID()); + navigation_server->free(map); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_REGION_COUNT), 0); + } + + SUBCASE("Queries against empty region should return empty or invalid values") { + CHECK_EQ(navigation_server->region_get_connections_count(region), 0); + CHECK_EQ(navigation_server->region_get_connection_pathway_end(region, 55), Vector3()); + CHECK_EQ(navigation_server->region_get_connection_pathway_start(region, 55), Vector3()); + } + + navigation_server->free(region); + } } } //namespace TestNavigationServer3D