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/* Author: Ioan Sucan */

#define BOOST_TEST_MODULE "PlannerTerminationCondition"
#include <boost/test/unit_test.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);
}
