From e1bdde911c21c76e866f16e4208d517438e44d2e Mon Sep 17 00:00:00 2001 From: Pawel Lampe Date: Mon, 19 Jun 2023 23:41:24 +0200 Subject: [PATCH] Add `agent` and `map` tests for 'NavigationServer3D' This commits fixes a bug in `free()` function as well. --- .../navigation/godot_navigation_server.cpp | 6 +- tests/servers/test_navigation_server_3d.h | 103 ++++++++++++++++++ 2 files changed, 107 insertions(+), 2 deletions(-) diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp index cfd0cc6d463..d43a069dd4c 100644 --- a/modules/navigation/godot_navigation_server.cpp +++ b/modules/navigation/godot_navigation_server.cpp @@ -997,8 +997,10 @@ COMMAND_1(free, RID, p_object) { } int map_index = active_maps.find(map); - active_maps.remove_at(map_index); - active_maps_update_id.remove_at(map_index); + if (map_index >= 0) { + active_maps.remove_at(map_index); + active_maps_update_id.remove_at(map_index); + } map_owner.free(p_object); } else if (region_owner.owns(p_object)) { diff --git a/tests/servers/test_navigation_server_3d.h b/tests/servers/test_navigation_server_3d.h index a3c5aa86249..ffd5b83231d 100644 --- a/tests/servers/test_navigation_server_3d.h +++ b/tests/servers/test_navigation_server_3d.h @@ -40,6 +40,109 @@ TEST_SUITE("[Navigation]") { TEST_CASE("[NavigationServer3D] Server should be empty when initialized") { NavigationServer3D *navigation_server = NavigationServer3D::get_singleton(); CHECK_EQ(navigation_server->get_maps().size(), 0); + + SUBCASE("'ProcessInfo' should report all counters empty as well") { + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_ACTIVE_MAPS), 0); + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_REGION_COUNT), 0); + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 0); + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_LINK_COUNT), 0); + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_POLYGON_COUNT), 0); + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_EDGE_COUNT), 0); + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_EDGE_MERGE_COUNT), 0); + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_EDGE_CONNECTION_COUNT), 0); + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_EDGE_FREE_COUNT), 0); + } + } + + 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()); + + SUBCASE("'ProcessInfo' should not report dangling agent") { + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 0); + } + + SUBCASE("Setters/getters should work") { + 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. + } + + SUBCASE("'ProcessInfo' should report agent with active map") { + RID map = navigation_server->map_create(); + CHECK(map.is_valid()); + navigation_server->map_set_active(map, true); + navigation_server->agent_set_map(agent, map); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_AGENT_COUNT), 1); + navigation_server->agent_set_map(agent, RID()); + navigation_server->free(map); + navigation_server->process(0.0); // Give server some cycles to commit. + } + + 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(); + CHECK(map.is_valid()); + CHECK_EQ(navigation_server->get_maps().size(), 1); + + SUBCASE("'ProcessInfo' should not report inactive map") { + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_ACTIVE_MAPS), 0); + } + + SUBCASE("Setters/getters should work") { + navigation_server->map_set_cell_size(map, 0.55); + navigation_server->map_set_edge_connection_margin(map, 0.66); + navigation_server->map_set_link_connection_radius(map, 0.77); + navigation_server->map_set_up(map, Vector3(1, 0, 0)); + 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)); + CHECK_EQ(navigation_server->map_get_up(map), Vector3(1, 0, 0)); + CHECK_EQ(navigation_server->map_get_use_edge_connections(map), !initial_use_edge_connections); + } + + SUBCASE("'ProcessInfo' should report map iff active") { + navigation_server->map_set_active(map, true); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK(navigation_server->map_is_active(map)); + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_ACTIVE_MAPS), 1); + navigation_server->map_set_active(map, false); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->get_process_info(NavigationServer3D::INFO_ACTIVE_MAPS), 0); + } + + SUBCASE("Number of agents should be reported properly") { + RID agent = navigation_server->agent_create(); + CHECK(agent.is_valid()); + navigation_server->agent_set_map(agent, map); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->map_get_agents(map).size(), 1); + navigation_server->free(agent); + navigation_server->process(0.0); // Give server some cycles to commit. + CHECK_EQ(navigation_server->map_get_agents(map).size(), 0); + } + + 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); } } } //namespace TestNavigationServer3D