BREAKING!refactor(bt,test/bt): moves nodes in bt/skills folder to categorized folders; moves all tests from 'test/bt' into 'src/' tree

David Phamrequested to merge
579-bt-directory-refactor into develop

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Summary

Hard to keep track of nodes and their tests when:

  • all mechanics/skills/behaviors/plays are under the single bt/skills folder
  • must jump across the project all the time to get to their test

Planning to move the rest of the stuff under test/ into src/ at a later date. Currently using test/bt/ as a proving ground.

So I refactored the bt/skills/* folder and moved each node into their separate categories. It was also a big pain to manage the tests when they were far away so I put them right in the src/ tree, which was a "best practice" that I didn't believe in until we started cranking these tests and nodes.

Really helps me keep my mental flow, esp when I have to chase stuff down and review a bunch of stuff. Should also help people new to the code--if somebody's curious about how things are used in practice, they can potentially open our tests and see for themselces. This way, tests double as pseudo-documentation. If we find a good sweetspot for clarity in the names of the test cases, then the Behavior Driven Development (BDD) style should also help with that.

Testing

  • Created tests
  • Updated tests
  • Tested in simulation (integration tests)
  • Tested in real robot (if applicable)
  • No tests (reason):

Screenshots/Videos

Related Issue(s)

Changes

Blast Radius

Checklist

  • All relevant unit tests are passing
  • Documentation updated (if applicable)
  • No debug logs or commented-out code

Reviewer Notes

Closes #579 (closed)

Edited by David Pham

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