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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Willow Garage
* 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 Willow Garage 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.
*********************************************************************/
/* Author: Ioan Sucan */
#define BOOST_TEST_MODULE "PlannerTerminationCondition"
#include <boost/test/unit_test.hpp>
#include <boost/thread.hpp>
#include <iostream>
#include "ompl/base/PlannerTerminationCondition.h"
#include "ompl/util/Time.h"
#include "../BoostTestTeamCityReporter.h"
using namespace ompl;
BOOST_AUTO_TEST_CASE(TestSimpleTermination)
{
static const double dt = 0.1;
const base::PlannerTerminationCondition &ptc = base::timedPlannerTerminationCondition(dt);
BOOST_CHECK(ptc == false);
BOOST_CHECK(ptc() == false);
boost::this_thread::sleep(ompl::time::seconds(dt + 0.01));
BOOST_CHECK(ptc == true);
BOOST_CHECK(ptc() == true);
const base::PlannerTerminationCondition &ptc_long = base::timedPlannerTerminationCondition(100.0 * dt);
BOOST_CHECK(ptc_long == false);
BOOST_CHECK(ptc_long() == false);
ptc_long.terminate();
BOOST_CHECK(ptc_long == true);
BOOST_CHECK(ptc_long() == true);
}
BOOST_AUTO_TEST_CASE(TestThreadedTermination)
{
static const double dt = 0.2;
static const double interval = 0.005;
const base::PlannerTerminationCondition &ptc = base::timedPlannerTerminationCondition(dt, interval);
BOOST_CHECK(ptc == false);
BOOST_CHECK(ptc() == false);
boost::this_thread::sleep(ompl::time::seconds(dt + interval * 3.0));
BOOST_CHECK(ptc == true);
BOOST_CHECK(ptc() == true);
const base::PlannerTerminationCondition &ptc_long = base::timedPlannerTerminationCondition(100.0 * dt, interval);
BOOST_CHECK(ptc_long == false);
BOOST_CHECK(ptc_long() == false);
ptc_long.terminate();
BOOST_CHECK(ptc_long == true);
BOOST_CHECK(ptc_long() == true);
}
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