test_grid_astar.cpp

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#include <list>
#include <vector>

#include <boost/thread.hpp>

#include <omp.h>

#include <gtest/gtest.h>

#include <planner_cspace/grid_astar.h>

TEST(GridAstar, ParallelSearch)
{
  using Vec = CyclicVecInt<1, 1>;
  GridAstar<1, 1> as(Vec(16));
  as.setSearchTaskNum(8);
  omp_set_num_threads(2);

  const auto cb_cost = [](
      const Vec&, Vec&, const Vec&, const Vec&) -> float
  {
    return 1.0;
  };
  const auto cb_cost_estim = [](const Vec&, const Vec&) -> float
  {
    return 1e-6;
  };
  std::vector<Vec> search[16];
  for (int i = 1; i < 15; ++i)
  {
    search[0].push_back(Vec(i));
    for (int j = 1; j < 15; ++j)
    {
      if (i == j)
        continue;
      search[i].push_back(Vec(j));
    }
    search[i].push_back(Vec(15));
  }

  const auto cb_search = [&search](
      const Vec& p, const Vec&, const Vec&) -> std::vector<Vec>&
  {
    return search[p[0]];
  };
  const auto cb_progress = [](const std::list<Vec>&)
  {
    return true;
  };

  for (int i = 0; i < 1000; ++i)
  {
    std::list<Vec> path;
    ASSERT_TRUE(
        as.search(
            Vec(0), Vec(15), path,
            cb_cost, cb_cost_estim, cb_search, cb_progress,
            0, 1.0));
    ASSERT_EQ(path.size(), 3u);
    ASSERT_EQ(path.front(), Vec(0));
    ASSERT_EQ(path.back(), Vec(15));
  }
}

class GridAstarTestWrapper : public GridAstar<1, 1>
{
public:
  explicit GridAstarTestWrapper(const Vec& size)
    : GridAstar(size)
  {
  }
  std::unordered_map<Vec, Vec, Vec>& parentMap()
  {
    return parents_;
  }
  bool findPath(const Vec& s, const Vec& e, std::list<Vec>& path)
  {
    return GridAstar::findPath(s, e, path);
  }
};

TEST(GridAstar, FindPathLooped)
{
  using Vec = GridAstarTestWrapper::Vec;
  GridAstarTestWrapper as(Vec(4));

  as.parentMap()[Vec(3)] = Vec(2);
  as.parentMap()[Vec(2)] = Vec(1);
  as.parentMap()[Vec(1)] = Vec(2);

  std::list<Vec> path;
  const auto timeout_func = []()
  {
    try
    {
      boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
    }
    catch (boost::thread_interrupted&)
    {
      return;
    }
    EXPECT_TRUE(false) << "Looks entered endless loop. Test will be aborted.";
    abort();
  };
  boost::thread timeout(timeout_func);
  ASSERT_FALSE(as.findPath(Vec(0), Vec(3), path));
  timeout.interrupt();
}

TEST(GridAstar, FindPathUnconnected)
{
  using Vec = GridAstarTestWrapper::Vec;
  GridAstarTestWrapper as(Vec(3));

  as.parentMap()[Vec(2)] = Vec(1);

  std::list<Vec> path;
  ASSERT_FALSE(as.findPath(Vec(0), Vec(2), path));
}

TEST(GridAstar, FindPath)
{
  using Vec = GridAstarTestWrapper::Vec;
  GridAstarTestWrapper as(Vec(3));

  as.parentMap()[Vec(2)] = Vec(1);
  as.parentMap()[Vec(1)] = Vec(0);

  std::list<Vec> path;
  ASSERT_TRUE(as.findPath(Vec(0), Vec(2), path));
  ASSERT_EQ(path.size(), 3u);
  auto it = path.cbegin();
  ASSERT_EQ(*(it++), Vec(0));
  ASSERT_EQ(*(it++), Vec(1));
  ASSERT_EQ(*it, Vec(2));
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);

  return RUN_ALL_TESTS();
}