trick/trick_sims/SIM_wheelbot/models/Guidance/test/ArenaTest.cpp

#include <gtest/gtest.h>
#define private public
#include "arena.hh"
#include <algorithm>

TEST( ArenaTest , one ) {
    // Attempt to create an arena
    Arena * arena;
    arena = new Arena(5,5);
    EXPECT_NE( (void*)0, arena);
}

TEST( ArenaTest , two ) {
    // Make sure that arena size is what we specified.
    Arena arena(5,5);
    EXPECT_EQ( arena.getWidth(), 5);
    EXPECT_EQ( arena.getHeight(), 5);
}

TEST( ArenaTest , three ) {
    // Make sure that arena size is what we specified.
    //Checks that x is width and y is height
    Arena arena(10,7);
    EXPECT_EQ( arena.getWidth(), 10);
    EXPECT_EQ( arena.getHeight(), 7);
}

TEST( ArenaTest , four ) {
    // Make sure that arena size is what we specified.

    unsigned char ARENA_bits[] = {
    0x10, 0x00, 0x86, 0x00, 0xe8, 0x00, 0x28, 0x00, 0xe2, 0x00, 0x02, 0x00};

    Arena arena(10,6,ARENA_bits);
    EXPECT_EQ( arena.getWidth(), 10);
    EXPECT_EQ( arena.getHeight(), 6);
}

TEST( ArenaTest , calcOffset_one ) {
    // Make sure that calcOffset properly adds its value to the variable offset
    Arena arena(10,7);
    size_t sz;
    arena.calcOffset(1,1, sz);
    EXPECT_EQ( sz, (size_t)11);
}

TEST( ArenaTest, calcOffset_two )
{
  //Checks to make sure calcOffset function returns 1 if the if-statements
  //evaluate to false
  Arena arena(10,7);
  size_t sz;
  EXPECT_EQ (arena.calcOffset(15,12,sz), 1);
}

TEST( ArenaTest, calcOffset_three )
{
  //Checks to make sure calcOffset function returns 0 if the if-statements
  //evaluate to true
  Arena arena(10,7);
  size_t sz;
  EXPECT_EQ (arena.calcOffset(5,6,sz), 0);
}


TEST ( ArenaTest, getGridSquare_one)
{
  //Tests to make sure getGridSquare gets the gridSquare pointer at the location specified
  //Which in this case is the first gridSquare
  Arena arena(10,7);
  GridSquare *agridsquare = arena.getGridSquare(0,0);
  EXPECT_EQ (agridsquare, arena.grid);
}

TEST ( ArenaTest, getGridSquare_two)
{
  //Tests if the gridSquare that getGridSquare picked up is the correct gridSquare
  //by counting the spaces in memory
  Arena arena(10,7);
  GridSquare *agridsquare = arena.getGridSquare(2,3);
  EXPECT_EQ (agridsquare, arena.grid + 32);
}

TEST (ArenaTest, getGridSquare_three)
{
  //failure case for if-statement within getGridSquare
  Arena arena(10,7);
  EXPECT_EQ (arena.getGridSquare(50,70), ((GridSquare*)0));
}

TEST( ArenaTest, calcOffset2_one )
{
  //Checks to make sure calcOffset function returns 1 if the if-statements
  //evaluate to false
  //failure case for first if-statement in calcOffset function
    Arena arena(10,7);
    size_t sz;
    GridSquare* gridSquare = (GridSquare*)(arena.grid-1);
    EXPECT_EQ (arena.calcOffset(gridSquare,sz), 1);
}

TEST(ArenaTest, calcOffset2_two)
{
  //Tests if calcOffset function returns 0 when all if statement conditions are met
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(2,3);
  size_t sz;
  EXPECT_EQ (arena.calcOffset(agridSquare, sz), 0);
}

TEST(ArenaTest, calcOffset2_three)
{
  //Tests if offset value is calculated correctly and put in the correct memory location
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(9,6);
  size_t sz;
  arena.calcOffset(agridSquare, sz);
  EXPECT_EQ (sz, 69);
}

TEST(ArenaTest, calcOffset2_four)
{
  //failure case for second if-statement in calcOffset function
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(15,10);
  size_t sz;
  EXPECT_EQ (arena.calcOffset(agridSquare, sz), 1);
}

TEST(ArenaTest, getGridSquareCoordinates_one)
{
  //failure case for if-statement in getGridSquareCoordinates function
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(15,10);
  Point coordinate;
  std::cout << std::endl;
  std::cout << "The following error message is expected from this test." << std::endl;
  EXPECT_EQ (arena.getGridSquareCoordinates(agridSquare, coordinate),1);
  std::cout << std::endl;
}

TEST(ArenaTest, getGridSquareCoordinates_two)
{
  //Tests if the if-statement evaluates to true that the remainder of code (for that function)
  //runs through
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(9,6);
  Point coordinate;
  EXPECT_EQ (arena.getGridSquareCoordinates(agridSquare, coordinate),0);
}

TEST(ArenaTest, getGridSquareCoordinates_three)
{
  //Tests the arithmetic within the getGridSquareCooordinates function
  //once the first if-statement evaluates to true
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(9,6);
  Point coordinate;
  arena.getGridSquareCoordinates(agridSquare, coordinate);
  EXPECT_EQ (coordinate.x, 9);
  EXPECT_EQ (coordinate.y, 6);
}

TEST(ArenaTest, movementCostEstimate_one)
{
  //Failure case for the if-statement
  //Ensures that the movementCostEstimate function fails appropiately
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(11,3);
  GridSquare *anothergridSquare = arena.getGridSquare(12,4);
  int costestimate;
  std::cout << std::endl;
  std::cout << "The following error messages are expected from this test." << std::endl;
  EXPECT_EQ (arena.movementCostEstimate(agridSquare,anothergridSquare,costestimate), 1);
  std::cout << std::endl;
}

TEST(ArenaTest, movementCostEstimate_two)
{
  //Tests the case that the if-statement evaluates to true and if the following lines of code
  //get executed in their entirety
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(1,2);
  GridSquare *anothergridSquare = arena.getGridSquare(3,4);
  int costestimate;
  EXPECT_EQ (arena.movementCostEstimate(agridSquare,anothergridSquare,costestimate), 0);
}

TEST(ArenaTest, movementCostEstimate_three)
{
  //Tests to ensure that movementCostEstimate function is calculating the movement cost correctly
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(1,2);
  GridSquare *anothergridSquare = arena.getGridSquare(3,4);
  int costestimate;
  arena.movementCostEstimate(agridSquare,anothergridSquare,costestimate);
  EXPECT_EQ (costestimate, 40);
}

TEST(ArenaTest, distanceBetween_one)
{
  //Failure case for the if-statement
  //Ensures that the distanceBetween function fails appropiately
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(11,3);
  GridSquare *anothergridSquare = arena.getGridSquare(12,4);
  int dist;
  std::cout << std::endl;
  std::cout << "The following error messages are expected from this test." << std::endl;
  EXPECT_EQ (arena.distanceBetween(agridSquare,anothergridSquare,dist), 1);
  std::cout << std::endl;
}

TEST(ArenaTest, distanceBetween_two)
{
  //Tests the case that the if-statement evaluates to true and if the following lines of code
  //get executed in their entirety
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(1,2);
  GridSquare *anothergridSquare = arena.getGridSquare(3,4);
  int dist;
  EXPECT_EQ (arena.distanceBetween(agridSquare,anothergridSquare,dist), 0);
}

TEST(ArenaTest, distanceBetween_three)
{
  //Tests that the distanceBetween function properly calculates the distance between two gridSquares
  //using gridSquare pointers
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(1,2);
  GridSquare *anothergridSquare = arena.getGridSquare(3,4);
  int dist;
  arena.distanceBetween(agridSquare,anothergridSquare,dist);
  EXPECT_EQ (dist, 28);
}

TEST(ArenaTest, blockunblock_one)
{
  //Tests to ensure that the block and unblock functions change the isBlocked member
  //respective to their names
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(1,2);
  arena.block(1,2);
  EXPECT_EQ (agridSquare->isBlocked,true);
  arena.unblock(1,2);
  EXPECT_EQ (agridSquare->isBlocked,false);
}

TEST(ArenaTest, mark_one)
{
  //Tests to make sure that the mark function places a mark in the gridSquare desired
  Arena arena(10,7);
  GridSquare *agridSquare = arena.getGridSquare(1,2);
  arena.mark(1,2, 'c');
  EXPECT_EQ (agridSquare->mark,'c');
}

TEST(ArenaTest, getNeighbors_one)
{
  //Tests that error message displays when trying to
  std::cout << std::endl;
  std::cout << "The following error messages are expected from this test." << std::endl;
  Arena arena(10,7);
  std::vector<GridSquare*> neighbors;
  GridSquare *agridSquare = arena.getGridSquare(11,22);
  neighbors = arena.getNeighbors(agridSquare);
  int length = neighbors.size();
  std::cout << std::endl; std::cout << std::endl;
  EXPECT_EQ (length, 0);
}

TEST(ArenaTest, getNeighbors_two)
{
  //Tests that getNeighbors returns the correct amount of neighbors within the vector
  Arena arena(3,3);
  GridSquare *agridSquare = arena.getGridSquare(1,1);
  std::vector<GridSquare*> neighbors;
  neighbors = arena.getNeighbors(agridSquare);
  int length = neighbors.size();
  EXPECT_EQ (length, 8);
}

TEST(ArenaTest, getNeighbors_three)
{
  //Tests that getNeighbors returns the correct amount of neighbors when
  //certain neighbors are blocked
  Arena arena(3,3);
  GridSquare *agridSquare = arena.getGridSquare(1,1);
  std::vector<GridSquare*> neighbors;
  arena.block(0,0);
  arena.block(2,0);
  arena.block(2,2);
  neighbors = arena.getNeighbors(agridSquare);
  int length = neighbors.size();
  EXPECT_EQ (length, 5);
}

TEST(ArenaTest, getNeighbors_four)
{
  //Tests that getNeighbors returns the correct GridSquare pointers in the neighbors vector
  Arena arena(3,3);
  GridSquare *agridSquare = arena.getGridSquare(1,1);
  std::vector<GridSquare*> neighbors;

  arena.block(0,0);
  GridSquare* n0_1 = arena.getGridSquare(0,1);//0,1
  GridSquare* n0_2 = arena.getGridSquare(0,2);//0,2
  GridSquare* n1_0 = arena.getGridSquare(1,0);//1,0
  GridSquare* n1_2 = arena.getGridSquare(1,2);// 1,2
  arena.block(2,0);
  GridSquare* n2_1 = arena.getGridSquare(2,1);//2,1
  arena.block(2,2);

  neighbors = arena.getNeighbors(agridSquare);
  std::vector<GridSquare*>::iterator neighborsIterator;

  //Test for (0,1) gridSquare
  bool n0_1_found_flag = false;
  neighborsIterator = find (neighbors.begin(),neighbors.end(), n0_1); //search for neighbor (0,1) in neighbors
  if (neighborsIterator != neighbors.end()) //if the value is found
    n0_1_found_flag = true; //change the found flag to true


  Point point;
  arena.getGridSquareCoordinates(*neighborsIterator,point);
  std::cout << point.x << " "<< point.y << std::endl;

  EXPECT_EQ(n0_1_found_flag, true);

  //Test for (0,2) gridSquare
  bool n0_2_found_flag = false;
  neighborsIterator = find (neighbors.begin(),neighbors.end(), n0_2); //search for neighbor (0,2) in neighbors
  if (neighborsIterator != neighbors.end()) //if the value is found
    n0_2_found_flag = true; //change the found flag to true

  arena.getGridSquareCoordinates(*neighborsIterator,point);
  std::cout << point.x << " "<< point.y << std::endl;

  EXPECT_EQ(n0_2_found_flag, true);

   //Test for (1,0) gridSquare
  bool n1_0_found_flag = false;
  neighborsIterator = find (neighbors.begin(),neighbors.end(), n1_0); //search for neighbor (0,2) in neighbors
  if (neighborsIterator != neighbors.end()) //if the value is found
    n1_0_found_flag = true; //change the found flag to true

  arena.getGridSquareCoordinates(*neighborsIterator,point);
  std::cout << point.x << " "<< point.y << std::endl;

  EXPECT_EQ(n1_0_found_flag, true);

   //Test for (1,2) gridSquare
  bool n1_2_found_flag = false;
  neighborsIterator = find (neighbors.begin(),neighbors.end(), n1_2); //search for neighbor (1,2) in neighbors
  if (neighborsIterator != neighbors.end()) //if the value is found
    n1_2_found_flag = true; //change the found flag to true

  arena.getGridSquareCoordinates(*neighborsIterator,point);
  std::cout << point.x << " "<< point.y << std::endl;

  EXPECT_EQ(n1_2_found_flag, true);

   //Test for (2,1) gridSquare
  bool n2_1_found_flag = false;
  neighborsIterator = find (neighbors.begin(),neighbors.end(), n2_1); //search for neighbor (2,1) in neighbors
  if (neighborsIterator != neighbors.end()) //if the value is found
    n2_1_found_flag = true; //change the found flag to true

  arena.getGridSquareCoordinates(*neighborsIterator,point);
  std::cout << point.x << " "<< point.y << std::endl;

  EXPECT_EQ(n2_1_found_flag, true);


}