optimal & fix file cmake

test/event_bus_test.cpp

@@ -0,0 +1,133 @@
+#include <gtest/gtest.h>
+
+#include <thread>
+#include <vector>
+
+#include <mission_adapters/event.h>
+
+namespace
+{
+using namespace mission_adapters;
+
+Event makeEvent(EventType type)
+{
+    Event event;
+    event.type = type;
+    return event;
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+// A5 — thứ tự xử lý phải bằng thứ tự phát sinh.
+//
+// Bản trước sắp theo priority toàn phần: CANCEL (1) luôn đứng trước SUBMIT (5). Phát order rồi huỷ
+// ngay thì huỷ được xử lý trước, order vào hàng đợi sau, và robot chạy đúng cái người dùng vừa huỷ.
+// ─────────────────────────────────────────────────────────────────────────────
+
+TEST(EventBusTest, SubmitThenCancelKeepsCausalOrder)
+{
+    EventBus bus;
+
+    bus.push(makeEvent(EventType::SUBMIT_REQUEST));
+    bus.push(makeEvent(EventType::CANCEL));
+
+    Event event;
+    ASSERT_TRUE(bus.pop(event));
+    EXPECT_EQ(event.type, EventType::SUBMIT_REQUEST);
+
+    ASSERT_TRUE(bus.pop(event));
+    EXPECT_EQ(event.type, EventType::CANCEL) << "the cancel was processed before the order it "
+                                                "cancels";
+}
+
+TEST(EventBusTest, PreservesFifoOrderAcrossEventTypes)
+{
+    EventBus bus;
+
+    const std::vector<EventType> pushed = {
+        EventType::PAUSE,
+        EventType::SUBMIT_REQUEST,
+        EventType::RESUME,
+        EventType::NAV_DONE,
+        EventType::CANCEL,
+    };
+
+    for (const auto type : pushed)
+        bus.push(makeEvent(type));
+
+    for (size_t i = 0; i < pushed.size(); ++i)
+    {
+        Event event;
+        ASSERT_TRUE(bus.pop(event)) << "event number " << i;
+        EXPECT_EQ(event.type, pushed[i]) << "wrong order at position " << i;
+        EXPECT_EQ(event.sequence, i);
+    }
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Emergency đi ngoài hàng đợi: độ trễ phản ứng không được phụ thuộc độ dài hàng đợi.
+// ─────────────────────────────────────────────────────────────────────────────
+
+TEST(EventBusTest, EmergencyOvertakesQueue)
+{
+    EventBus bus;
+
+    for (int i = 0; i < 50; ++i)
+        bus.push(makeEvent(EventType::SUBMIT_REQUEST));
+
+    EXPECT_FALSE(bus.emergencyPending());
+    bus.pushEmergency(makeEvent(EventType::EMERGENCY));
+
+    // Thấy được ngay, không phải rút hết 50 sự kiện kia ra trước.
+    EXPECT_TRUE(bus.emergencyPending());
+    EXPECT_EQ(bus.size(), 51u) << "an EMERGENCY event must still sit in the queue to keep the log "
+                                  "sequence";
+
+    EXPECT_TRUE(bus.takeEmergency());
+    EXPECT_FALSE(bus.takeEmergency()) << "the emergency flag was consumed twice";
+}
+
+TEST(EventBusTest, EmergencyEventStillArrivesInOrder)
+{
+    EventBus bus;
+
+    bus.push(makeEvent(EventType::PAUSE));
+    bus.pushEmergency(makeEvent(EventType::EMERGENCY));
+
+    Event event;
+    ASSERT_TRUE(bus.pop(event));
+    EXPECT_EQ(event.type, EventType::PAUSE);
+
+    ASSERT_TRUE(bus.pop(event));
+    EXPECT_EQ(event.type, EventType::EMERGENCY);
+}
+
+TEST(EventBusTest, StopUnblocksPop)
+{
+    EventBus bus;
+    Event event;
+
+    std::thread stopper([&bus] { bus.stop(); });
+    EXPECT_FALSE(bus.pop(event));
+    stopper.join();
+}
+
+TEST(EventBusTest, ResetDropsPendingEventsAndEmergencyFlag)
+{
+    EventBus bus;
+
+    bus.push(makeEvent(EventType::PAUSE));
+    bus.pushEmergency(makeEvent(EventType::EMERGENCY));
+
+    bus.reset();
+
+    EXPECT_TRUE(bus.empty());
+    EXPECT_FALSE(bus.emergencyPending());
+}
+
+}  // namespace
+
+int main(int argc, char** argv)
+{
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}