module-tests.cpp

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/*
 * Copyright (c) 2008, Maxim Likhachev
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Pennsylvania nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <iostream>
#include <string>
#include <fstream>
#include <gtest/gtest.h>

using namespace std;

#include "../headers.h"

static const std::string PATH_PREFIX("src/test/");

void diffTest(const std::string& outputStr){
  std::string validOutputStr(outputStr + ".valid");
  std::ifstream validFile(validOutputStr.c_str());
  // If there is no valid file then generate one.
  if(!validFile.good()){
    std::ifstream newOutputFile(outputStr.c_str());
    std::stringbuf sbuf;
    newOutputFile >> &sbuf;
    std::ofstream newValidFile(validOutputStr.c_str());
    newValidFile << sbuf.str();
  }
  else { // Verify output against the valid file.
    std::stringbuf newStrBuf, validStrBuf;
    std::ifstream fNew(outputStr.c_str()), fValid(validOutputStr.c_str());
    fNew >> &newStrBuf;
    fValid >> &validStrBuf;
    ASSERT_EQ(newStrBuf.str() == validStrBuf.str(), true);
  }
}

void runARAPlannerTest(const std::string& problem){
  try
    {
      double allocated_time_secs = 0.5; // in seconds
      MDPConfig MDPCfg;
      EnvironmentNAV2D environment_nav2D;
      std::string problemStr = PATH_PREFIX + problem;
      ASSERT_EQ(environment_nav2D.InitializeEnv(problemStr.c_str()), true);
      ASSERT_EQ(environment_nav2D.InitializeMDPCfg(&MDPCfg), true);

      // plan a path
      vector<int> solution_stateIDs_V;
      ARAPlanner ara_planner(&environment_nav2D, false);
      ASSERT_EQ(ara_planner.set_start(MDPCfg.startstateid), true);
      ASSERT_EQ(ara_planner.set_goal(MDPCfg.goalstateid), true);
      ASSERT_EQ(ara_planner.replan(allocated_time_secs, &solution_stateIDs_V), true);

      // output the path
      std::string outputStr = problemStr + ".out";
      FILE* fSol = SBPL_FOPEN(outputStr.c_str(), "w");
      for(unsigned int i = 0; i < solution_stateIDs_V.size(); i++) {
        environment_nav2D.PrintState(solution_stateIDs_V[i], true, fSol);
      }

      SBPL_FCLOSE(fSol);

      // Now apply the file diff test
      diffTest(outputStr);
    }
  catch(...)
    {
      FAIL() << "Uncaught exception : " << "This is OK on OS X";
    }
}

TEST(araplanner, env1)
{
  runARAPlannerTest("env1.cfg");
}


int main(int argc, char *argv[])
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}