From 88fa9cab0ee855dae804bb26fcef8b6d88d8d688 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 30 Apr 2021 12:03:48 +0200
Subject: [PATCH] Fix tests for EntityInstance
---
.../armem/core/base/EntityInstanceBase.h | 8 -
.../armem/core/diskmemory/EntityInstance.cpp | 9 +-
.../armem/core/diskmemory/EntityInstance.h | 7 +-
.../core/longtermmemory/EntityInstance.cpp | 13 -
.../core/longtermmemory/EntityInstance.h | 7 +-
.../core/workingmemory/EntityInstance.cpp | 27 +-
.../armem/core/workingmemory/EntityInstance.h | 12 +-
.../libraries/armem/test/ArMemMemoryTest.cpp | 331 ++++++++++++------
8 files changed, 262 insertions(+), 152 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index fdf8d2be7..4e2471f3d 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -36,14 +36,6 @@ namespace armarx::armem::base
{
}
- /*
- EntityInstanceBase& operator=(const EntityInstanceBase& other)
- {
- other._copySelf(*this);
- return *this;
- }
- */
-
inline int& index()
{
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
index 1ee7691f4..49bfe419d 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
@@ -13,23 +13,20 @@
namespace armarx::armem::d_ltm
{
+
EntityInstance::EntityInstance(const EntityInstance& other) :
Base(other),
path(other.path)
{
}
- EntityInstance& EntityInstance::operator=(const EntityInstance& other)
- {
- other._copySelf(*this);
- return *this;
- }
-
bool EntityInstance::equalsDeep(const EntityInstance& other) const
{
return id() == other.id();
}
+
+
void EntityInstance::update(const EntityUpdate& update, int index)
{
ARMARX_CHECK_FITS_SIZE(index, update.instancesData.size());
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
index 37bebb7b6..9ee48c55b 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
@@ -20,8 +20,11 @@ namespace armarx::armem::d_ltm
using Base::EntityInstanceBase;
- EntityInstance(const EntityInstance&);
- EntityInstance& operator=(const EntityInstance& other);
+ EntityInstance(const EntityInstance& other);
+ EntityInstance(EntityInstance&& other) = default;
+ EntityInstance& operator=(const EntityInstance& other) = default;
+ EntityInstance& operator=(EntityInstance&& other) = default;
+
/**
* @brief Fill `*this` with the update's values.
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
index b83f77e74..6332be7ea 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
@@ -13,19 +13,6 @@ namespace armarx::armem::ltm
&& std::abs(confidence - other.confidence) < 1e-6f;
}
- EntityInstance::EntityInstance(const EntityInstance& other) :
- Base(other),
- _metadata(other._metadata)
- {
- }
-
-
- EntityInstance& EntityInstance::operator=(const EntityInstance& other)
- {
- other._copySelf(*this);
- return *this;
- }
-
bool EntityInstance::equalsDeep(const EntityInstance& other) const
{
return id() == other.id() && _metadata == other.metadata();
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
index 39225dd6e..f78668e5e 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
@@ -42,8 +42,11 @@ namespace armarx::armem::ltm
using Base::EntityInstanceBase;
- EntityInstance(const EntityInstance& other);
- EntityInstance& operator=(const EntityInstance& other);
+ EntityInstance(const EntityInstance& other) = default;
+ EntityInstance(EntityInstance&& other) = default;
+ EntityInstance& operator=(const EntityInstance& other) = default;
+ EntityInstance& operator=(EntityInstance&& other) = default;
+
EntityInstanceMetadata& metadata()
{
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
index 4d8de5156..95e508bde 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
@@ -3,6 +3,17 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+std::ostream& armarx::armem::wm::operator<<(std::ostream& os, const EntityInstanceMetadata& d)
+{
+ os << "EntityInstanceMetadata: "
+ << "\n- t_create = \t" << armem::toStringMicroSeconds(d.timeCreated) << " us"
+ << "\n- t_sent = \t" << armem::toStringMicroSeconds(d.timeSent) << " us"
+ << "\n- t_arrived = \t" << armem::toStringMicroSeconds(d.timeArrived) << " us"
+ << "\n- confidence = \t" << d.confidence << " us"
+ ;
+ return os;
+}
+
namespace armarx::armem::wm
{
@@ -15,22 +26,6 @@ namespace armarx::armem::wm
}
- /*
- EntityInstance::EntityInstance(const EntityInstance& other) :
- Base(other),
- _metadata(other._metadata),
- _data(other._data)
- {
- }
-
- EntityInstance& EntityInstance::operator=(const EntityInstance& other)
- {
- other._copySelf(*this);
- return *this;
- }
- */
-
-
bool EntityInstance::equalsDeep(const EntityInstance& other) const
{
return id() == other.id()
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
index 0a289c787..8e6eb1afe 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
@@ -31,6 +31,9 @@ namespace armarx::armem::wm
}
};
+ std::ostream& operator<<(std::ostream& os, const EntityInstanceMetadata& rhs);
+
+
/**
* @brief Data of a single entity instance.
*/
@@ -44,10 +47,11 @@ namespace armarx::armem::wm
using Base::EntityInstanceBase;
- /*
- EntityInstance(const EntityInstance& other);
- EntityInstance& operator=(const EntityInstance& other);
- */
+ EntityInstance(const EntityInstance& other) = default;
+ EntityInstance(EntityInstance&& other) = default;
+ EntityInstance& operator=(const EntityInstance& other) = default;
+ EntityInstance& operator=(EntityInstance&& other) = default;
+
EntityInstanceMetadata& metadata()
{
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index 42c1238a3..8d8fbed9f 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -244,46 +244,6 @@ BOOST_AUTO_TEST_CASE(test_key_ctors)
}
-template <class T>
-void test_the_copy_move_ctors_ops_instance()
-{
- const armem::MemoryID id("A/B/C/123000"); // int index would not be moved
- const armem::MemoryID idMoved;
-
- BOOST_TEST_CONTEXT("Type " << simox::meta::get_type_name<T>())
- {
- T in(id);
- BOOST_CHECK_EQUAL(in.id(), id);
- BOOST_TEST_CONTEXT("copy ctor")
- {
- T out { in };
- BOOST_CHECK_EQUAL(out.id(), id);
- }
- BOOST_TEST_CONTEXT("copy op")
- {
- T out;
- out = in;
- BOOST_CHECK_EQUAL(out.id(), id);
- }
- in = T{id};
- BOOST_TEST_CONTEXT("move ctor")
- {
- T out { std::move(in) };
- BOOST_CHECK_EQUAL(in.id(), idMoved);
- BOOST_CHECK_EQUAL(out.id(), id);
- }
- in = T{id};
- BOOST_TEST_CONTEXT("move op")
- {
- T out;
- out = std::move(in);
- BOOST_CHECK_EQUAL(in.id(), idMoved);
- BOOST_CHECK_EQUAL(out.id(), id);
- }
- }
-}
-
-
template <class ...Args>
auto add_element(std::vector<Args...>& vector)
{
@@ -295,81 +255,250 @@ auto add_element(std::map<Args...>& map)
return map.emplace();
}
+
template <class T>
-void test_the_copy_move_ctors_ops_container()
+struct CustomChecks
+{
+ static void checkEqual(const T& lhs, const T& rhs)
+ {
+ (void) lhs, (void) rhs;
+ }
+ static void checkMoved(const T& moved)
+ {
+ (void) moved;
+ }
+};
+template <>
+struct CustomChecks<armem::wm::EntityInstance>
+{
+ static void checkEqual(const armem::wm::EntityInstance& lhs, const armem::wm::EntityInstance& rhs)
+ {
+ BOOST_CHECK_EQUAL(lhs.metadata(), rhs.metadata());
+ BOOST_CHECK_EQUAL(lhs.data(), rhs.data());
+ }
+ static void checkMoved(const armem::wm::EntityInstance& moved)
+ {
+ BOOST_CHECK_EQUAL(moved.data(), nullptr);
+ }
+};
+template <>
+struct CustomChecks<armem::d_ltm::EntityInstance>
+{
+ static void checkEqual(const armem::d_ltm::EntityInstance& lhs, const armem::d_ltm::EntityInstance& rhs)
+ {
+ BOOST_CHECK_EQUAL(lhs.path, rhs.path);
+ }
+ static void checkMoved(const armem::d_ltm::EntityInstance& moved)
+ {
+ BOOST_CHECK_EQUAL(moved.path, nullptr);
+ }
+};
+
+
+struct CopyMoveCtorsOpsTestBase
{
- const armem::MemoryID id("A/B/C/123000"); // int index would not be moved
+ const armem::MemoryID id {"A/B/C/123000"}; // int index would not be moved
const armem::MemoryID idMoved;
- BOOST_TEST_CONTEXT("Type " << simox::meta::get_type_name<T>())
+ std::string typeName;
+
+ CopyMoveCtorsOpsTestBase(const std::string& typeName) :
+ typeName(typeName)
+ {
+ }
+ virtual ~CopyMoveCtorsOpsTestBase()
+ {
+ }
+
+
+ void test()
{
- T in(id);
+ BOOST_TEST_CONTEXT("Type " << typeName)
+ {
+ reset();
+ BOOST_TEST_CONTEXT("copy ctor")
+ {
+ testCopyCtor();
+ }
+ reset();
+ BOOST_TEST_CONTEXT("copy op")
+ {
+ testCopyOp();
+ }
+ reset();
+ BOOST_TEST_CONTEXT("move ctor")
+ {
+ testMoveCtor();
+ }
+ reset();
+ BOOST_TEST_CONTEXT("move op")
+ {
+ testMoveOp();
+ }
+ }
+ }
+
+ virtual void reset()
+ {
+ }
+
+ virtual void testCopyCtor() = 0;
+ virtual void testCopyOp() = 0;
+ virtual void testMoveCtor() = 0;
+ virtual void testMoveOp() = 0;
+};
+
+
+
+template <class T>
+struct InstanceCopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
+{
+ T in;
+
+ InstanceCopyMoveCtorsOpsTest() :
+ CopyMoveCtorsOpsTestBase(simox::meta::get_type_name<T>())
+ {
+ }
+ virtual ~InstanceCopyMoveCtorsOpsTest() override = default;
+
+ void reset() override
+ {
+ in = T {id};
+ BOOST_CHECK_EQUAL(in.id(), id);
+ }
+
+ void testCopyCtor() override
+ {
+ T out { in };
+
+ BOOST_CHECK_EQUAL(out.id(), id);
+
+ CustomChecks<T>::checkEqual(out, in);
+ }
+ void testCopyOp() override
+ {
+ T out;
+ out = in;
+
+ BOOST_CHECK_EQUAL(out.id(), id);
+
+ CustomChecks<T>::checkEqual(out, in);
+ }
+ void testMoveCtor() override
+ {
+ T out { std::move(in) };
+
+ BOOST_CHECK_EQUAL(in.id(), idMoved);
+ BOOST_CHECK_EQUAL(out.id(), id);
+
+ CustomChecks<T>::checkMoved(in);
+ }
+ void testMoveOp() override
+ {
+ T out;
+ out = std::move(in);
+
+ BOOST_CHECK_EQUAL(in.id(), idMoved);
+ BOOST_CHECK_EQUAL(out.id(), id);
+
+ CustomChecks<T>::checkMoved(in);
+ }
+};
+
+
+template <class T>
+struct CopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
+{
+ T in;
+
+ CopyMoveCtorsOpsTest() : CopyMoveCtorsOpsTestBase(simox::meta::get_type_name<T>())
+ {
+ }
+ virtual ~CopyMoveCtorsOpsTest() override = default;
+
+ void reset() override
+ {
+ in = T {id};
add_element(in.container());
+
BOOST_CHECK_EQUAL(in.id(), id);
BOOST_CHECK_EQUAL(in.size(), 1);
+ }
- BOOST_TEST_CONTEXT("copy ctor")
- {
- T out { in };
- BOOST_CHECK_EQUAL(in.id(), id);
- BOOST_CHECK_EQUAL(in.size(), 1);
- BOOST_CHECK_EQUAL(out.id(), id);
- BOOST_CHECK_EQUAL(out.size(), 1);
- }
- BOOST_TEST_CONTEXT("copy op")
- {
- T out;
- out = in;
- BOOST_CHECK_EQUAL(in.id(), id);
- BOOST_CHECK_EQUAL(in.size(), 1);
- BOOST_CHECK_EQUAL(out.id(), id);
- BOOST_CHECK_EQUAL(out.size(), 1);
- }
- in = T{id};
- BOOST_TEST_CONTEXT("move ctor")
- {
- T out { std::move(in) };
- BOOST_CHECK_EQUAL(in.id(), idMoved);
- BOOST_CHECK(in.empty());
- BOOST_CHECK_EQUAL(out.id(), id);
- BOOST_CHECK_EQUAL(out.size(), 1);
- }
- in = T{id};
- BOOST_TEST_CONTEXT("move op")
- {
- T out;
- out = std::move(in);
- BOOST_CHECK_EQUAL(in.id(), idMoved);
- BOOST_CHECK(in.empty());
- BOOST_CHECK_EQUAL(out.id(), id);
- BOOST_CHECK_EQUAL(out.size(), 1);
- }
+ void testCopyCtor() override
+ {
+ T out { in };
+ BOOST_CHECK_EQUAL(in.id(), id);
+ BOOST_CHECK_EQUAL(in.size(), 1);
+ BOOST_CHECK_EQUAL(out.id(), id);
+ BOOST_CHECK_EQUAL(out.size(), 1);
+
+ CustomChecks<T>::checkEqual(out, in);
}
-}
+ void testCopyOp() override
+ {
+ T out;
+ out = in;
+ BOOST_CHECK_EQUAL(in.id(), id);
+ BOOST_CHECK_EQUAL(in.size(), 1);
+ BOOST_CHECK_EQUAL(out.id(), id);
+ BOOST_CHECK_EQUAL(out.size(), 1);
+
+ CustomChecks<T>::checkEqual(out, in);
+ }
+ void testMoveCtor() override
+ {
+ T out { std::move(in) };
+
+ BOOST_CHECK_EQUAL(in.id(), idMoved);
+ BOOST_CHECK_EQUAL(in.size(), 0);
+ BOOST_CHECK_EQUAL(out.id(), id);
+ BOOST_CHECK_EQUAL(out.size(), 1);
+
+ CustomChecks<T>::checkMoved(in);
+ }
+ void testMoveOp() override
+ {
+ T out;
+ out = std::move(in);
+
+ BOOST_CHECK_EQUAL(in.id(), idMoved);
+ BOOST_CHECK_EQUAL(in.size(), 0);
+ BOOST_CHECK_EQUAL(out.id(), id);
+ BOOST_CHECK_EQUAL(out.size(), 1);
+
+ CustomChecks<T>::checkMoved(in);
+ }
+};
+
BOOST_AUTO_TEST_CASE(test_copy_move_ctors_ops)
{
- test_the_copy_move_ctors_ops_instance<armem::wm::EntityInstance>();
- test_the_copy_move_ctors_ops_container<armem::wm::EntitySnapshot>();
- test_the_copy_move_ctors_ops_container<armem::wm::Entity>();
- test_the_copy_move_ctors_ops_container<armem::wm::ProviderSegment>();
- test_the_copy_move_ctors_ops_container<armem::wm::CoreSegment>();
- test_the_copy_move_ctors_ops_container<armem::wm::Memory>();
-
- test_the_copy_move_ctors_ops_instance<armem::ltm::EntityInstance>();
- test_the_copy_move_ctors_ops_container<armem::ltm::EntitySnapshot>();
- test_the_copy_move_ctors_ops_container<armem::ltm::Entity>();
- test_the_copy_move_ctors_ops_container<armem::ltm::ProviderSegment>();
- test_the_copy_move_ctors_ops_container<armem::ltm::CoreSegment>();
- test_the_copy_move_ctors_ops_container<armem::ltm::Memory>();
-
- test_the_copy_move_ctors_ops_instance<armem::d_ltm::EntityInstance>();
- test_the_copy_move_ctors_ops_container<armem::d_ltm::EntitySnapshot>();
- test_the_copy_move_ctors_ops_container<armem::d_ltm::Entity>();
- test_the_copy_move_ctors_ops_container<armem::d_ltm::ProviderSegment>();
- test_the_copy_move_ctors_ops_container<armem::d_ltm::CoreSegment>();
- test_the_copy_move_ctors_ops_container<armem::d_ltm::Memory>();
+ {
+ InstanceCopyMoveCtorsOpsTest<armem::wm::EntityInstance>().test();
+ CopyMoveCtorsOpsTest<armem::wm::EntitySnapshot>().test();
+ CopyMoveCtorsOpsTest<armem::wm::Entity>().test();
+ CopyMoveCtorsOpsTest<armem::wm::ProviderSegment>().test();
+ CopyMoveCtorsOpsTest<armem::wm::CoreSegment>().test();
+ CopyMoveCtorsOpsTest<armem::wm::Memory>().test();
+ }
+ {
+ InstanceCopyMoveCtorsOpsTest<armem::ltm::EntityInstance>().test();
+ CopyMoveCtorsOpsTest<armem::ltm::EntitySnapshot>().test();
+ CopyMoveCtorsOpsTest<armem::ltm::Entity>().test();
+ CopyMoveCtorsOpsTest<armem::ltm::ProviderSegment>().test();
+ CopyMoveCtorsOpsTest<armem::ltm::CoreSegment>().test();
+ CopyMoveCtorsOpsTest<armem::ltm::Memory>().test();
+ }
+ {
+ InstanceCopyMoveCtorsOpsTest<armem::d_ltm::EntityInstance>().test();
+ CopyMoveCtorsOpsTest<armem::d_ltm::EntitySnapshot>().test();
+ CopyMoveCtorsOpsTest<armem::d_ltm::Entity>().test();
+ CopyMoveCtorsOpsTest<armem::d_ltm::ProviderSegment>().test();
+ CopyMoveCtorsOpsTest<armem::d_ltm::CoreSegment>().test();
+ CopyMoveCtorsOpsTest<armem::d_ltm::Memory>().test();
+ }
}
--
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