119 lines
3.2 KiB
C++
Executable File
119 lines
3.2 KiB
C++
Executable File
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017, Locus Robotics
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <gtest/gtest.h>
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#include <costmap_queue/map_based_queue.h>
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#include <string>
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using costmap_queue::MapBasedQueue;
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void letter_test(MapBasedQueue<char>& q, const char test_letter)
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{
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ASSERT_FALSE(q.isEmpty());
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char c = q.front();
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EXPECT_EQ(c, test_letter);
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q.pop();
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}
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TEST(MapBasedQueue, emptyQueue)
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{
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MapBasedQueue<char> q;
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EXPECT_TRUE(q.isEmpty());
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q.enqueue(1.0, 'A');
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EXPECT_FALSE(q.isEmpty());
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}
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TEST(MapBasedQueue, checkOrdering)
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{
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MapBasedQueue<char> q;
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q.enqueue(1.0, 'A');
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q.enqueue(3.0, 'B');
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q.enqueue(2.0, 'C');
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q.enqueue(5.0, 'D');
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q.enqueue(0.0, 'E');
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std::string expected = "EACBD";
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for (unsigned int i = 0; i < expected.size(); i++)
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{
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letter_test(q, expected[i]);
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}
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EXPECT_TRUE(q.isEmpty());
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}
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TEST(MapBasedQueue, checkDynamicOrdering)
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{
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MapBasedQueue<char> q;
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q.enqueue(1.0, 'A');
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q.enqueue(3.0, 'B');
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q.enqueue(2.0, 'C');
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q.enqueue(5.0, 'D');
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std::string expected = "ACB";
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for (unsigned int i = 0; i < expected.size(); i++)
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{
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letter_test(q, expected[i]);
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}
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q.enqueue(0.0, 'E');
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letter_test(q, 'E');
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}
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TEST(MapBasedQueue, checkDynamicOrdering2)
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{
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MapBasedQueue<char> q;
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q.enqueue(1.0, 'A');
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q.enqueue(2.0, 'B');
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letter_test(q, 'A');
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q.enqueue(3.0, 'C');
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letter_test(q, 'B');
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}
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TEST(MapBasedQueue, checkDynamicOrdering3)
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{
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MapBasedQueue<char> q;
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q.enqueue(1.0, 'A');
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q.enqueue(2.0, 'B');
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q.enqueue(5.0, 'D');
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letter_test(q, 'A');
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letter_test(q, 'B');
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q.enqueue(1.0, 'C');
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letter_test(q, 'C');
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letter_test(q, 'D');
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}
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int main(int argc, char **argv)
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{
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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