GUCoordinatesTests.hpp

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/*
 * GUCoordinatesTests.hpp 
 * tests 
 *
 * Created by Callum McColl on 20/06/2020.
 * Copyright © 2020 Callum McColl. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * 2. 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.
 *
 * 3. All advertising materials mentioning features or use of this
 *    software must display the following acknowledgement:
 *
 *        This product includes software developed by Callum McColl.
 *
 * 4. Neither the name of the author nor the names of 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.
 *
 * -----------------------------------------------------------------------
 * This program is free software; you can redistribute it and/or
 * modify it under the above terms or under the terms of the GNU
 * General Public License as published by the Free Software Foundation;
 * either version 2 of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
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 * or write to the Free Software Foundation, Inc., 51 Franklin Street,
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 */
 
#ifndef GUCOORDINATESTESTS_HPP
#define GUCOORDINATESTESTS_HPP
 
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wzero-as-null-pointer-constant"
#pragma clang diagnostic ignored "-Wfloat-equal"
#pragma clang diagnostic ignored "-Wsign-compare"
#pragma clang diagnostic ignored "-Wmissing-noreturn"
#pragma clang diagnostic ignored "-Wshift-sign-overflow"
#pragma clang diagnostic ignored "-Wused-but-marked-unused"
#pragma clang diagnostic ignored "-Wundef"
#pragma clang diagnostic ignored "-Wc++98-compat"
#pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
#pragma clang diagnostic ignored "-Wc++11-long-long"
#pragma clang diagnostic ignored "-Wc++11-extensions"
#pragma clang diagnostic ignored "-Wdeprecated"
#pragma clan diagnostic ignored "-Wsuggest-override"
#pragma clan diagnostic ignored "-Wsuggest-destructor-override"
#include <gtest/gtest.h>
#pragma clang diagnostic pop
 
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
#include "fff.h"
#pragma clang diagnostic pop
 
#include "../gucoordinates.h"
#include "fakes.h"
#include "custom_fakes.h"
 
#include <typeinfo>
 
#include <math.h>
 
#define GU_NAO_V5_TOP_CAMERA gu_camera_make(6.364, 5.871, 1.2, 47.64, 60.97) 
#define GU_NAO_V5_BOTTOM_CAMERA gu_camera_make(1.774, 5.071, 39.7, 47.64, 60.97)
 
#define GU_PEPPER_TOP_CAMERA gu_camera_make(115.3, 8.68, 0.0, 44.3, 55.2)
#define GU_PEPPER_BOTTOM_CAMERA gu_camera_make(105.15, 9.36, 40.0, 44.3, 55.2)
 
#define GU_NAO_V5_HEAD(p, y) (gu_camera_pivot) {.pitch = p, .yaw = y, .height = 41.7, .cameras = {GU_NAO_V5_TOP_CAMERA, GU_NAO_V5_BOTTOM_CAMERA}, .numCameras = 2}
#define GU_NAO_V5_TOP_CAMERA_INDEX 0
#define GU_NAO_V5_BOTTOM_CAMERA_INDEX 1 
 
#define GU_PEPPER_HEAD(p, y) {p, y, 0.0, {GU_PEPPER_TOP_CAMERA, GU_PEPPER_BOTTOM_CAMERA}, 2}
 
#define GU_NAO_V5_ROBOT(hp, hy, x, y, t) (gu_robot) { .head = { hp, hy, 41.7, {GU_NAO_V5_TOP_CAMERA, GU_NAO_V5_BOTTOM_CAMERA}, 2 }, .position = { { x, y }, t } }
 
#define GU_PEPPER_ROBOT(hp, hy, x, y, t) (gu_robot) { .head = { hp, hy, 0.0, {GU_PEPPER_TOP_CAMERA, GU_PEPPER_BOTTOM_CAMERA}, 2 }, .position = { { x, y }, t } }
 
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wglobal-constructors"
 
#define TEST2_F(testclassname, testname) \
    TEST_F(testclassname, testname)
 
#define RO3_TEST_F(className) \
    TEST2_F(testclassname(className), RO3) { \
        ro3_test(); \
    }
 
#if __cplusplus >= 201103L
#define RO5_TEST_Fs(className) \
    RO3_TEST_F(className) \
    TEST2_F(testclassname(className), RO5) { \
        ro5_test(); \
    }
#else
#define RO5_TEST_Fs(className) RO3_TEST_F(className)
#endif
 
#define testclassname(className) className##CPPTests
#define equals_reset(strctName) strctName##_equals_reset();
#define equals_func(strctName) strctName##_equals
#define equals_fake(strctName) strctName##_equals_fake
 
#pragma clang diagnostic pop
 
namespace CGTEST {
 
    template <typename Class>
    class GUCoordinatesTests: public ::testing::Test {
        private:
 
        protected:
 
            GU::CameraPivot nao;
            GU::Camera topCamera;
            GU::Camera bottomCamera;
 
            virtual void SetUp() {
                ALL_FAKES(RESET_FAKE);
                FFF_RESET_HISTORY();
                nao = GU_NAO_V5_HEAD(0.0, 0.0);
                topCamera = GU_NAO_V5_TOP_CAMERA;
                bottomCamera = GU_NAO_V5_BOTTOM_CAMERA;
            }
 
            virtual void TearDown() {
                ALL_FAKES(RESET_FAKE);
                FFF_RESET_HISTORY();
            }
 
            virtual void preamble() {}
 
            virtual Class initial() = 0;
 
            virtual void change(Class &) {}
 
            virtual Class empty() = 0;
 
            void ro3_test() {
                preamble();
                Class obj = initial();
#pragma clang diangostic push
#pragma clang diagnostic ignored "-Wself-assign"
                obj = obj;
#pragma clang diagnostic pop
                SCOPED_TRACE("Equality operator");
                equals(obj, obj);
                SCOPED_TRACE("Copy constructor");
                Class obj2 = Class(obj);
                equals(obj, obj2);
                SCOPED_TRACE("Assignment operator");
                Class obj3 = obj2;
                equals(obj, obj3);
                change(obj);
                nequals(obj, obj3);
                equals(obj2, obj3);
                SCOPED_TRACE("Assignment operator2");
                Class obj4;
                obj4 = obj3;
                equals(obj4, obj3);
                Class * obj5 = &obj4;
                equals(obj4, *obj5);
            }
 
#if __cplusplus >= 201103L
            void ro5_test() {
                Class obj = initial();
                Class obj2 = initial();
                SCOPED_TRACE("Move Constructor");
                Class obj3 = std::move(obj);
                obj = empty();
                nequals(obj3, obj);
                equals(obj3, obj2);
                equals(obj, empty());
                SCOPED_TRACE("Move assignment operator");
                Class obj4;
                obj4 = std::move(obj3);
                obj3 = empty();
                nequals(obj4, obj3);
                equals(obj4, obj2);
                equals(obj3, empty());
                SCOPED_TRACE("Move assignment operator2");
                Class * obj5 = &obj4;
                obj4 = std::move(*obj5);
                nequals(obj4, obj3);
                equals(obj4, obj2);
                nequals(*obj5, obj3);
                equals(*obj5, obj2);
                equals(*obj5, obj4);
            }
#endif
 
            bool near(const double lhs, const double rhs) const
            {
                const double tolerance = 0.001;
                return fabs(lhs - rhs) < tolerance;
            }
 
            void assert_near(const double lhs, const double rhs, const double tolerance) const
            {
                ASSERT_LE(fabs(lhs - rhs), tolerance);
            }
 
            void equals(const GU::CameraCoordinate lhs, const GU::CameraCoordinate rhs)
            {
                ASSERT_EQ(lhs.x(), rhs.x());
                ASSERT_EQ(lhs.y(), rhs.y());
                ASSERT_EQ(lhs.resWidth(), rhs.resWidth());
                ASSERT_EQ(lhs.resHeight(), rhs.resHeight());
            }
 
            void nequals(const GU::CameraCoordinate lhs, const GU::CameraCoordinate rhs)
            {
                ASSERT_FALSE(lhs.x() == rhs.x()
                        && lhs.y() == rhs.y()
                        && lhs.resWidth() == rhs.resWidth()
                        && lhs.resHeight() == rhs.resHeight()
                        );
            }
 
            void equals(const GU::Camera lhs, const GU::Camera rhs)
            {
                ASSERT_TRUE(near(lhs.height(), rhs.height()));
                ASSERT_TRUE(near(lhs.centerOffset(), rhs.centerOffset()));
                ASSERT_TRUE(near(lhs.vDirection(), rhs.vDirection()));
                ASSERT_TRUE(near(lhs.vFov(), rhs.vFov()));
                ASSERT_TRUE(near(lhs.hFov(), rhs.hFov()));
            }
 
            void nequals(const GU::Camera lhs, const GU::Camera rhs)
            {
                ASSERT_FALSE(
                        near(lhs.height(), rhs.height())
                        && near(lhs.centerOffset(), rhs.centerOffset())
                        && near(lhs.vDirection(), rhs.vDirection())
                        && near(lhs.vFov(), rhs.vFov())
                        && near(lhs.hFov(), rhs.hFov())
                        );
            }
 
            void equals(const GU::PixelCoordinate lhs, const GU::PixelCoordinate rhs)
            {
                ASSERT_EQ(lhs.x(), rhs.x());
                ASSERT_EQ(lhs.y(), rhs.y());
                ASSERT_EQ(lhs.resWidth(), rhs.resWidth());
                ASSERT_EQ(lhs.resHeight(), rhs.resHeight());
            }
 
            void nequals(const GU::PixelCoordinate lhs, const GU::PixelCoordinate rhs)
            {
                ASSERT_FALSE(
                        lhs.x() == rhs.x()
                        && lhs.y() == rhs.y()
                        && lhs.resWidth() == rhs.resWidth()
                        && lhs.resHeight() == rhs.resHeight()
                    );
            }
 
            void equals(const GU::PercentCoordinate lhs, const GU::PercentCoordinate rhs)
            {
                ASSERT_TRUE(near(lhs.x(), rhs.x()));
                ASSERT_TRUE(near(lhs.y(), rhs.y()));
            }
 
            void nequals(const GU::PercentCoordinate lhs, const GU::PercentCoordinate rhs)
            {
                ASSERT_FALSE(
                        near(lhs.x(), rhs.x())
                        && near(lhs.y(), rhs.y())
                    );
            }
 
            void equals(const GU::RelativeCoordinate lhs, const GU::RelativeCoordinate rhs)
            {
                ASSERT_EQ(lhs.direction(), rhs.direction());
                ASSERT_EQ(lhs.distance(), rhs.distance());
            }
 
            void nequals(const GU::RelativeCoordinate lhs, const GU::RelativeCoordinate rhs)
            {
                ASSERT_FALSE(
                        near(lhs.direction(), rhs.direction())
                        && lhs.distance() == rhs.distance()
                    );
            }
 
            void equals(const GU::CartesianCoordinate lhs, const GU::CartesianCoordinate rhs)
            {
                ASSERT_EQ(lhs.x(), rhs.x());
                ASSERT_EQ(lhs.y(), rhs.y());
            }
 
            void nequals(const GU::CartesianCoordinate lhs, const GU::CartesianCoordinate rhs)
            {
                ASSERT_FALSE(lhs.x() == rhs.x() && lhs.y() == rhs.y());
            }
 
            void equals(const GU::FieldCoordinate lhs, const GU::FieldCoordinate rhs)
            {
                equals(lhs.position(), rhs.position());
                ASSERT_EQ(lhs.heading(), rhs.heading());
            }
 
            void nequals(const GU::FieldCoordinate lhs, const GU::FieldCoordinate rhs)
            {
                ASSERT_FALSE(
                        lhs.position().x() == rhs.position().x()
                        && lhs.position().y() == rhs.position().y()
                        && lhs.heading() == rhs.heading()
                    );
            }
 
            void equals(const GU::CameraPivot lhs, const GU::CameraPivot rhs)
            {
                ASSERT_TRUE(near(lhs.pitch(), rhs.pitch())) << lhs.pitch() << ", " << rhs.pitch();
                ASSERT_TRUE(near(lhs.yaw(), rhs.yaw()));
                ASSERT_TRUE(near(lhs.height(), rhs.height()));
                ASSERT_EQ(lhs.numCameras(), rhs.numCameras());
                for (int i = 0; i < lhs.numCameras(); i++)
                {
                    const GU::Camera lcamera = lhs.camera(i);
                    const GU::Camera rcamera = rhs.camera(i);
                    ASSERT_TRUE(near(lcamera.height(), rcamera.height()));
                    ASSERT_TRUE(near(lcamera.centerOffset(), rcamera.centerOffset()));
                    ASSERT_TRUE(near(lcamera.vDirection(), rcamera.vDirection()));
                    ASSERT_TRUE(near(lcamera.vFov(), rcamera.vFov()));
                    ASSERT_TRUE(near(lcamera.hFov(), rcamera.hFov()));
                }
            }
 
            void nequals(const GU::CameraPivot lhs, const GU::CameraPivot rhs)
            {
                if (!(near(lhs.pitch(), rhs.pitch())
                        && near(lhs.yaw(), rhs.yaw())
                        && near(lhs.numCameras(), rhs.numCameras())
                        && near(lhs.height(), rhs.height())
                   ))
                {
                    ASSERT_FALSE(near(lhs.pitch(), rhs.pitch())
                        && near(lhs.yaw(), rhs.yaw())
                        && near(lhs.numCameras(), rhs.numCameras())
                        && near(lhs.height(), rhs.height())
                        );
                    return;
                }
                for (int i = 0; i < lhs.numCameras(); i++)
                {
                    const GU::Camera lcamera = lhs.camera(i);
                    const GU::Camera rcamera = rhs.camera(i);
                    ASSERT_FALSE(
                            near(lcamera.height(), rcamera.height())
                            && near(lcamera.centerOffset(),rcamera.centerOffset())
                            && near(lcamera.vDirection(), rcamera.vDirection())
                            && near(lcamera.vFov(), rcamera.vFov())
                            && near(lcamera.hFov(), rcamera.hFov())
                            );
                }
            }
 
            void equals(const GU::OptionalCameraCoordinate lhs, const GU::OptionalCameraCoordinate rhs)
            {
                ASSERT_EQ(lhs.has_value(), rhs.has_value());
                equals(lhs.value(), rhs.value());
            }
 
            void nequals(const GU::OptionalCameraCoordinate lhs, const GU::OptionalCameraCoordinate rhs)
            {
                if (lhs.has_value() != rhs.has_value())
                {
                    ASSERT_NE(lhs.has_value(), rhs.has_value());
                    return;
                }
                nequals(lhs.value(), rhs.value());
            }
 
            void equals(const GU::OptionalPixelCoordinate lhs, const GU::OptionalPixelCoordinate rhs)
            {
                ASSERT_EQ(lhs.has_value(), rhs.has_value());
                equals(lhs.value(), rhs.value());
            }
 
            void nequals(const GU::OptionalPixelCoordinate lhs, const GU::OptionalPixelCoordinate rhs)
            {
                if (lhs.has_value() != rhs.has_value())
                {
                    ASSERT_NE(lhs.has_value(), rhs.has_value());
                    return;
                }
                nequals(lhs.value(), rhs.value());
            }
 
            void equals(const GU::OptionalPercentCoordinate lhs, const GU::OptionalPercentCoordinate rhs)
            {
                ASSERT_EQ(lhs.has_value(), rhs.has_value());
                equals(lhs.value(), rhs.value());
            }
 
            void nequals(const GU::OptionalPercentCoordinate lhs, const GU::OptionalPercentCoordinate rhs)
            {
                if (lhs.has_value() != rhs.has_value())
                {
                    ASSERT_NE(lhs.has_value(), rhs.has_value());
                    return;
                }
                nequals(lhs.value(), rhs.value());
            }
 
            void equals(const GU::OptionalRelativeCoordinate lhs, const GU::OptionalRelativeCoordinate rhs)
            {
                ASSERT_EQ(lhs.has_value(), rhs.has_value());
                equals(lhs.value(), rhs.value());
            }
 
            void nequals(const GU::OptionalRelativeCoordinate lhs, const GU::OptionalRelativeCoordinate rhs)
            {
                if (lhs.has_value() != rhs.has_value())
                {
                    ASSERT_NE(lhs.has_value(), rhs.has_value());
                    return;
                }
                nequals(lhs.value(), rhs.value());
            }
 
            void equals(const GU::OptionalCartesianCoordinate lhs, const GU::OptionalCartesianCoordinate rhs)
            {
                ASSERT_EQ(lhs.has_value(), rhs.has_value());
                equals(lhs.value(), rhs.value());
            }
 
            void nequals(const GU::OptionalCartesianCoordinate lhs, const GU::OptionalCartesianCoordinate rhs)
            {
                if (lhs.has_value() != rhs.has_value())
                {
                    ASSERT_NE(lhs.has_value(), rhs.has_value());
                    return;
                }
                nequals(lhs.value(), rhs.value());
            }
 
            void equals(const GU::OptionalFieldCoordinate lhs, const GU::OptionalFieldCoordinate rhs)
            {
                ASSERT_EQ(lhs.has_value(), rhs.has_value());
                equals(lhs.value(), rhs.value());
            }
 
            void nequals(const GU::OptionalFieldCoordinate lhs, const GU::OptionalFieldCoordinate rhs)
            {
                if (lhs.has_value() != rhs.has_value())
                {
                    ASSERT_NE(lhs.has_value(), rhs.has_value());
                    return;
                }
                nequals(lhs.value(), rhs.value());
            }
 
    };
 
}
 
#endif  /* GUCOORDINATESTESTS_HPP */