interval_intersection_unittest.cpp

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// Tests interval_intersector.cpp, but it does not test with concurrency.


#include <vector>
#include <string>
#include <sstream>
#include <gtest/gtest.h>

#include "calibration_msgs/Interval.h"
#include "interval_intersection/interval_intersection.hpp"

using namespace std;
using namespace interval_intersection;

stringstream output_stream;
typedef boost::function<void (const calibration_msgs::IntervalConstPtr &)> Input;
vector<Input> inputs;

void publish(const calibration_msgs::Interval &interval)
{
  //cout << "publishing" << endl;
  output_stream << "[" << interval.start << ", " << interval.end << "] ";
}

void input_interval(ros::Time start, ros::Time end, int input_num) {
  boost::shared_ptr<calibration_msgs::Interval> interval(new calibration_msgs::Interval());
  interval->start = start;
  interval->end = end;
  //cout << "inputing" << endl;
  inputs[input_num](interval);
}

TEST(Intersection, testCase1)
{
  // Creat IntervalIntersector and hook its inputs and output
  IntervalIntersector intersector(&publish);
  int n = 3;
  for (int i=0; i<n; i++) {
    inputs.push_back(intersector.getNewInputStream());
  }

  // Feed it some input
  typedef ros::Time T;
  input_interval(T(10), T(20), 0);
  input_interval(T(2), T(16), 1);
  input_interval(T(8), T(21), 2);
  input_interval(T(23), T(30), 0);
  input_interval(T(6), T(25), 1);
  input_interval(T(18), T(28), 2);

  string correct_answer = "[10.000000000, 16.000000000] [10.000000000, 20.000000000] [23.000000000, 23.000000000] [23.000000000, 25.000000000] ";
  EXPECT_EQ(output_stream.str(), correct_answer);
}


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