From 692af109ce196eff695d27d7431839ac32deb9da Mon Sep 17 00:00:00 2001
From: Guillaume Sarthou <gsarthou@laas.fr>
Date: Fri, 19 Jun 2020 10:20:14 +0200
Subject: [PATCH] [ADD] graphs test file

---
 CMakeLists.txt      |  5 ++-
 src/test/graphs.cpp | 74 +++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 78 insertions(+), 1 deletion(-)
 create mode 100644 src/test/graphs.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 228c3cd..2882fd0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -175,11 +175,14 @@ add_dependencies(mementar_multi ${catkin_EXPORTED_TARGETS})
 ## Test executables
 ##############################
 
-
 add_executable(event_sub_pub src/test/event_sub_pub.cpp)
 target_link_libraries(event_sub_pub ${catkin_LIBRARIES})
 target_link_libraries(event_sub_pub mementar_lib)
 
+add_executable(graphs src/test/graphs.cpp)
+target_link_libraries(graphs ${catkin_LIBRARIES})
+target_link_libraries(graphs mementar_memGraphs_lib)
+
 ##############################
 ## Install
 ##############################
diff --git a/src/test/graphs.cpp b/src/test/graphs.cpp
new file mode 100644
index 0000000..e899b12
--- /dev/null
+++ b/src/test/graphs.cpp
@@ -0,0 +1,74 @@
+#include "mementar/core/memGraphs/Branchs/types/Action.h"
+#include "mementar/core/memGraphs/Branchs/types/Event.h"
+
+#include "mementar/core/memGraphs/Branchs/ContextualizedEvent.h"
+
+#include "mementar/core/memGraphs/Graphs/EventGraph.h"
+#include "mementar/core/memGraphs/Graphs/ActionGraph.h"
+
+#include <iostream>
+
+void printNext(mementar::ContextualizedEvent* evt)
+{
+  auto nexts = evt->getNextDllData();
+  for(auto n : nexts)
+    std::cout << static_cast<mementar::ContextualizedEvent*>(n)->toString() << std::endl;
+
+  if(nexts.size())
+    printNext( static_cast<mementar::ContextualizedEvent*>(nexts[0]));
+}
+
+void print(mementar::ContextualizedEvent* evt)
+{
+  std::cout << evt->toString() << std::endl;
+
+  auto nexts = evt->getNextDllData();
+  for(auto n : nexts)
+    std::cout <<  static_cast<mementar::ContextualizedEvent*>(n)->toString() << std::endl;
+
+  if(nexts.size())
+    printNext( static_cast<mementar::ContextualizedEvent*>(nexts[0]));
+}
+
+int main()
+{
+  mementar::EventGraph event_graph;
+  mementar::ActionGraph action_graph(&event_graph);
+
+  mementar::Event e1("cube12|isOn|Table_1", 2,4);
+  mementar::Event e2("cube12|isOn|Table_2", 8);
+
+  action_graph.add(new mementar::Action("pick_1", mementar::SoftPoint(1, 3), 7));
+  action_graph.add(new mementar::Action("place_1", 7, mementar::SoftPoint(9, 10)));
+  action_graph.add(new mementar::Action("pick_2", 12));
+
+  auto pending = action_graph.getPendingSafe();
+  for(auto action : pending)
+    std::cout << action->getName() << " is a pending action" << std::endl;
+
+  action_graph.setEnd("pick_2", 15);
+  action_graph.setEnd("pick_1", 17);
+
+  event_graph.add(new mementar::ContextualizedEvent("ce3", e1));
+  event_graph.add(new mementar::ContextualizedEvent("ce4", e2));
+
+  for(size_t i = 10; i < 20; i++)
+    event_graph.add(new mementar::ContextualizedEvent("ce" + std::to_string(i), mementar::Event("cube|" + std::to_string(i) + "|isOn Table_2", i)));
+
+  auto actions = action_graph.getSafe();
+  for(auto action : actions)
+    std::cout << action->getName() << " D=" << action->getDuration() << " Dmin=" << action->getMinDuration() << " Dmax=" << action->getMaxDuration() << std::endl;
+
+  auto events = event_graph.getSafe();
+  for(auto event : events)
+    std::cout << event->toString() << std::endl;
+
+  auto timeline = event_graph.getTimeline();
+  timeline->display();
+
+  std::cout << "********" << std::endl;
+  auto first_evt = event_graph.findBranch("pick_1_start");
+  print(first_evt);
+
+  return 0;
+}