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Yann/feature/behaviorkit/add timeout #1346

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Yann/feature/behaviorkit/add timeout #1346

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cd805f1
:zap: (BehaviorKit): Add optional timeout
YannLocatelli Dec 18, 2023
210cbca
:white_check_mark: (BehaviorKit): Add init to cover all unexpected calls
YannLocatelli Dec 18, 2023
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3 changes: 3 additions & 0 deletions include/interface/libs/BehaviorKit.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@

#pragma once

#include <chrono>
#include <span>

#include "interface/Behavior.h"
Expand All @@ -16,7 +17,9 @@ class BehaviorKit
public:
virtual ~BehaviorKit() = default;

virtual void init() = 0;
virtual void registerBehaviors(std::span<interface::Behavior *> behaviors) = 0;
virtual void setTimeoutDuration(std::chrono::seconds duration) = 0;
virtual void start(interface::Behavior *behavior) = 0;
virtual void start(BehaviorID id) = 0;
virtual void stop() = 0;
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11 changes: 10 additions & 1 deletion libs/BehaviorKit/include/BehaviorKit.h
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Expand Up @@ -7,6 +7,7 @@
#include <span>

#include "interface/Behavior.h"
#include "interface/drivers/Timeout.h"
#include "interface/libs/BehaviorKit.h"
#include "internal/BehaviorID.h"

Expand All @@ -15,15 +16,23 @@ namespace leka {
class BehaviorKit : public interface::BehaviorKit
{
public:
explicit BehaviorKit() = default;
explicit BehaviorKit(interface::Timeout &timeout) : _timeout(timeout)
{
// nothing to do
}

void init() final;
void registerBehaviors(std::span<interface::Behavior *> behaviors) final;
void setTimeoutDuration(std::chrono::seconds duration) final;

void start(interface::Behavior *behavior) final;
void start(BehaviorID id) final;
void stop() final;

private:
interface::Timeout &_timeout;
std::chrono::seconds _timeout_duration {20};

std::span<interface::Behavior *> _behaviors {};
interface::Behavior *_behavior = nullptr;
};
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15 changes: 15 additions & 0 deletions libs/BehaviorKit/source/BehaviorKit.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,11 +7,21 @@

using namespace leka;

void BehaviorKit::init()
{
_timeout.onTimeout([this] { stop(); });
}

void BehaviorKit::registerBehaviors(std::span<interface::Behavior *> behaviors)
{
_behaviors = behaviors;
}

void BehaviorKit::setTimeoutDuration(std::chrono::seconds duration)
{
_timeout_duration = duration;
}

void BehaviorKit::start(interface::Behavior *behavior)
{
stop();
Expand All @@ -28,6 +38,10 @@ void BehaviorKit::start(interface::Behavior *behavior)
}

_behavior->run();

if (_timeout_duration != std::chrono::seconds {0}) {
_timeout.start(_timeout_duration);
}
}

void BehaviorKit::start(BehaviorID id)
Expand All @@ -49,4 +63,5 @@ void BehaviorKit::stop()
if (_behavior != nullptr) {
_behavior->stop();
}
_timeout.stop();
}
74 changes: 72 additions & 2 deletions libs/BehaviorKit/tests/BehaviorKit_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,10 @@
#include "gmock/gmock.h"
#include "gtest/gtest.h"
#include "mocks/leka/Behavior.h"
#include "mocks/leka/Timeout.h"

using namespace leka;
using namespace std::chrono_literals;

using ::testing::Return;

Expand All @@ -20,7 +22,8 @@ class BehaviorKitTest : public ::testing::Test
// void SetUp() override {}
// void TearDown() override {}

BehaviorKit behaviorkit {};
mock::Timeout mock_timeout {};
BehaviorKit behaviorkit {mock_timeout};

mock::Behavior mock_behavior_a {};
mock::Behavior mock_behavior_b {};
Expand All @@ -31,25 +34,44 @@ TEST_F(BehaviorKitTest, initialization)
ASSERT_NE(&behaviorkit, nullptr);
}

TEST_F(BehaviorKitTest, initialize)
{
EXPECT_CALL(mock_timeout, onTimeout);

behaviorkit.init();
}

TEST_F(BehaviorKitTest, startFirstBehavior)
{
EXPECT_CALL(mock_timeout, onTimeout);
behaviorkit.init();

auto behaviors = std::to_array<interface::Behavior *>({&mock_behavior_a});
behaviorkit.registerBehaviors(behaviors);

EXPECT_CALL(mock_timeout, stop);
EXPECT_CALL(mock_timeout, start);
EXPECT_CALL(mock_behavior_a, run);

behaviorkit.start(&mock_behavior_a);
}

TEST_F(BehaviorKitTest, startBehaviorNullPtr)
{
// nothing expected
EXPECT_CALL(mock_timeout, onTimeout);
behaviorkit.init();

EXPECT_CALL(mock_timeout, stop);
EXPECT_CALL(mock_timeout, start).Times(0);

behaviorkit.start(nullptr);
}

TEST_F(BehaviorKitTest, startFirstBehaviorID)
{
EXPECT_CALL(mock_timeout, onTimeout);
behaviorkit.init();

auto behaviors = std::to_array<interface::Behavior *>({
&mock_behavior_a,
&mock_behavior_b,
Expand All @@ -59,6 +81,8 @@ TEST_F(BehaviorKitTest, startFirstBehaviorID)
auto behavior_a_id = BehaviorID {1};
auto behavior_b_id = BehaviorID {2};

EXPECT_CALL(mock_timeout, stop);
EXPECT_CALL(mock_timeout, start);
EXPECT_CALL(mock_behavior_a, id).WillRepeatedly(Return(behavior_a_id));
EXPECT_CALL(mock_behavior_b, id).WillRepeatedly(Return(behavior_b_id));
EXPECT_CALL(mock_behavior_b, run);
Expand All @@ -68,6 +92,9 @@ TEST_F(BehaviorKitTest, startFirstBehaviorID)

TEST_F(BehaviorKitTest, startBehaviorIDNotRegistered)
{
EXPECT_CALL(mock_timeout, onTimeout);
behaviorkit.init();

auto behaviors = std::to_array<interface::Behavior *>({
&mock_behavior_a,
&mock_behavior_b,
Expand All @@ -77,6 +104,8 @@ TEST_F(BehaviorKitTest, startBehaviorIDNotRegistered)
auto behavior_a_id = BehaviorID {1};
auto behavior_b_id = BehaviorID {2};

EXPECT_CALL(mock_timeout, stop);
EXPECT_CALL(mock_timeout, start).Times(0);
EXPECT_CALL(mock_behavior_a, id).WillRepeatedly(Return(behavior_a_id));
EXPECT_CALL(mock_behavior_b, id).WillRepeatedly(Return(behavior_b_id));

Expand All @@ -85,30 +114,71 @@ TEST_F(BehaviorKitTest, startBehaviorIDNotRegistered)

TEST_F(BehaviorKitTest, startBehaviorNotRegistered)
{
EXPECT_CALL(mock_timeout, onTimeout);
behaviorkit.init();

auto behaviors = std::to_array<interface::Behavior *>({
&mock_behavior_a,
});
behaviorkit.registerBehaviors(behaviors);

EXPECT_CALL(mock_timeout, stop);
EXPECT_CALL(mock_timeout, start).Times(0);
EXPECT_CALL(mock_behavior_b, run).Times(0);

behaviorkit.start(&mock_behavior_b);
}

TEST_F(BehaviorKitTest, startAnyBehavior)
{
EXPECT_CALL(mock_timeout, onTimeout);
behaviorkit.init();

auto behaviors = std::to_array<interface::Behavior *>({
&mock_behavior_a,
&mock_behavior_b,
});
behaviorkit.registerBehaviors(behaviors);

EXPECT_CALL(mock_timeout, stop);
EXPECT_CALL(mock_timeout, start);
EXPECT_CALL(mock_behavior_a, run);

behaviorkit.start(&mock_behavior_a);

EXPECT_CALL(mock_timeout, stop);
EXPECT_CALL(mock_timeout, start);
EXPECT_CALL(mock_behavior_a, stop);
EXPECT_CALL(mock_behavior_b, run);

behaviorkit.start(&mock_behavior_b);
}

TEST_F(BehaviorKitTest, setTimeoutDuration)
{
EXPECT_CALL(mock_timeout, onTimeout);
behaviorkit.init();

auto behaviors = std::to_array<interface::Behavior *>({&mock_behavior_a});
behaviorkit.registerBehaviors(behaviors);

behaviorkit.setTimeoutDuration(0s);
EXPECT_CALL(mock_timeout, stop);
EXPECT_CALL(mock_timeout, start).Times(0);
EXPECT_CALL(mock_behavior_a, stop);
EXPECT_CALL(mock_behavior_a, run);
behaviorkit.start(&mock_behavior_a);

behaviorkit.setTimeoutDuration(10s);
EXPECT_CALL(mock_timeout, stop);
EXPECT_CALL(mock_timeout, start(std::chrono::microseconds {10s}));
EXPECT_CALL(mock_behavior_a, run);
behaviorkit.start(&mock_behavior_a);

behaviorkit.setTimeoutDuration(20s);
EXPECT_CALL(mock_timeout, stop);
EXPECT_CALL(mock_timeout, start(std::chrono::microseconds {20s}));
EXPECT_CALL(mock_behavior_a, stop);
EXPECT_CALL(mock_behavior_a, run);
behaviorkit.start(&mock_behavior_a);
}
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