bonsai-bt 0.13.1

use crate::dynamic_behavior_tests::TestActions::{DynamicWait, Inc};
use bonsai_bt::{Action, ActionArgs, Event, Float, Success, UpdateArgs, Wait, While, BT, RUNNING};

type Times = Vec<Float>;
/// Some test actions.
#[derive(Clone, Debug)]
enum TestActions {
    /// Increment accumulator.
    Inc,
    ///, Dynamic timing
    DynamicWait(Times),
}

// A test state machine that can increment and decrement.
fn tick(mut acc: usize, dt: Float, t: &mut Float, counter: &mut usize, state: &mut BT<TestActions, ()>) -> usize {
    let e: Event = UpdateArgs { dt }.into();

    let (_s, _t) = state
        .tick(&e, &mut |args: ActionArgs<Event, TestActions>, _| match args.action {
            Inc => {
                acc += 1;
                (Success, args.dt)
            }
            DynamicWait(times) => {
                // reset dynamic timer
                if *counter >= times.len() {
                    *counter = 0
                }

                let wait_t = times[counter.to_owned()];

                if *t + dt >= wait_t {
                    let time_overdue = *t + dt - wait_t;
                    *counter += 1;
                    *t = -dt;
                    (Success, time_overdue)
                } else {
                    *t += dt;
                    RUNNING
                }
            }
        })
        .unwrap();

    acc
}

#[test]
fn test_alter_wait_time() {
    let a: usize = 0;
    let mut counter = 0;
    let mut timer: Float = 0.0;
    let rep = While(
        Box::new(Wait(50.0)),
        vec![Action(DynamicWait(vec![1.0, 2.0, 3.0])), Action(Inc)],
    );
    let mut state = BT::new(rep, ());

    // time passed=1.0
    let a = tick(a, 1.0, &mut timer, &mut counter, &mut state);
    assert_eq!(a, 1);
    // time passed=2.5
    let a = tick(a, 1.5, &mut timer, &mut counter, &mut state);
    assert_eq!(a, 1);
    // time passed = 5.50001
    let a = tick(a, 3.0001, &mut timer, &mut counter, &mut state);
    assert_eq!(a, 2);
    // time passed = 12.50002
    let a = tick(a, 7.0001, &mut timer, &mut counter, &mut state);
    assert_eq!(a, 3);
}