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tests.rs
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tests.rs
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// SPDX-FileCopyrightText: 2023 German Aerospace Center (DLR)
// SPDX-License-Identifier: Apache-2.0
pub mod tree {
pub mod shipdeck_landing {
pub mod deg45_maneuver;
pub mod lateral_maneuver;
pub mod oblique_maneuver;
pub mod straight_maneuver;
pub mod atomics {
pub mod combined;
pub mod constants;
pub mod descend_touchdown;
pub mod heading_aligned;
pub mod heading_obliqued;
pub mod in_position;
pub mod move_to_touchdown;
pub mod velocity_aligned;
}
}
}
use tree::shipdeck_landing::atomics::descend_touchdown::descend_touchdown;
use tree::shipdeck_landing::deg45_maneuver::get_45deg_maneuver;
use tree::shipdeck_landing::lateral_maneuver::get_lateral_maneuver;
use tree::shipdeck_landing::oblique_maneuver::get_oblique_maneuver;
use tree::shipdeck_landing::straight_maneuver::get_straight_maneuver;
use std::{collections::HashMap, rc::Rc, time::SystemTime};
use tbt_segmentation::{
behaviortree::{tbt_node_reset_count, Tbt, TbtNode},
command_line_parser::SegmentationSetting,
evaluate, get_best_number_skipped_entries, get_tbt_and_trace,
stl::{stl_reset_count, Stl},
Trace,
};
fn run_test(
traces_with_expected_value: Vec<(Vec<f32>, f32)>,
signal_name: String,
tbt: Tbt,
) -> Result<(), String> {
for (trace, expected) in traces_with_expected_value {
let trace: Trace = (trace.len(), HashMap::from([(signal_name.clone(), trace)]));
let ((robustness, _), _) = evaluate(
tbt.clone(),
trace,
SystemTime::now(),
false,
false,
0.0,
false,
None,
false,
);
if robustness == expected {
continue;
} else {
return Err(format!("Expected {expected} but was {}.", robustness));
}
}
Ok(())
}
fn test_hardcoded_maneuver(specification: &str, logfile: &str) {
let (number_skipped_entries, delta_rho_skipped) =
get_best_number_skipped_entries(specification, logfile, true);
/*******************
* STARTUP ROUTINES
*******************/
let (trace, new_tbt) =
get_tbt_and_trace(specification, logfile, number_skipped_entries, false, true);
let old_tbt = get_tree(number_skipped_entries);
/*********************
* Evaluation
*********************/
let setting = Some(SegmentationSetting {
tau_dif: 20000,
rho_dif: 50.0,
amount: 3,
});
let trace_2 = trace.clone();
let setting_2 = setting.clone();
let start = SystemTime::now();
println!("Run using parsed tbt!");
let (first_run, first_run_alt) = evaluate(
new_tbt,
trace,
start,
true,
false,
delta_rho_skipped,
true,
setting,
false,
);
println!("Run using hand-coded tbt!");
let (second_run, second_run_alt) = evaluate(
old_tbt,
trace_2,
start,
true,
false,
delta_rho_skipped,
true,
setting_2,
false,
);
assert!(
first_run.0 == second_run.0,
"Expected {} but was {} in {}.",
first_run.0,
second_run.0,
logfile
);
for i in 0..first_run.1.len() {
let v1 = &first_run.1[i];
let v2 = &second_run.1[i];
assert!(
v1.1 == v2.1,
"Entry {i} is expected to have same lower but wasnt {} != {}",
v1.1,
v2.1
);
assert!(
v1.2 == v2.2,
"Entry {i} is expected to have same upper but wasnt {} != {}",
v1.2,
v2.2
);
assert!(
v1.3 == v2.3,
"Entry {i} is expected to have same robustness but wasnt {} != {}",
v1.3,
v2.3
);
}
let alternatives_new = first_run_alt.unwrap();
let alternatives_old = second_run_alt.unwrap();
for j in 0..alternatives_new.len() {
let alt_new = &alternatives_new[j];
let alt_old = &alternatives_old[j];
assert_eq!(alt_new.0, alt_old.0);
for i in 0..alt_old.1.len() {
let v1 = &alt_new.1[i];
let v2 = &alt_old.1[i];
assert!(
v1.1 == v2.1,
"Entry of alternatives i={i} j={j} is expected to have same lower but wasnt {} != {}",
v1.1,
v2.1
);
assert!(
v1.2 == v2.2,
"Entry of alternatives i={i} j={j} is expected to have same upper but wasnt {} != {}",
v1.2,
v2.2
);
assert!(
v1.3 == v2.3,
"Entry of alternatives i={i} j={j} is expected to have same robustness but wasnt {} != {}",
v1.3,
v2.3
);
}
}
}
fn get_tree(number_skipped_entries: usize) -> Tbt {
tbt_node_reset_count();
stl_reset_count();
let ship_x = "ship_x".to_string();
let ship_y = "ship_y".to_string();
let ship_z = "ship_z".to_string();
let ship_u = "ship_u".to_string();
let ship_v = "ship_v".to_string();
let ship_w = "ship_w".to_string();
let ship_heading = "ship_heading".to_string();
let uas_x = "uas_x".to_string();
let uas_y = "uas_y".to_string();
let uas_z = "uas_z".to_string();
let uas_u = "uas_u".to_string();
let uas_v = "uas_v".to_string();
let uas_w = "uas_w".to_string();
let uas_heading = "uas_heading".to_string();
let frequency = if number_skipped_entries != 0 {
0.005 * number_skipped_entries as f32
} else {
0.005
};
let events_per_second = (1.0 / frequency) as u64;
/*
Get Maneuvers
*/
let lateral_maneuver = get_lateral_maneuver(
&events_per_second,
&uas_x,
&uas_y,
&uas_z,
&uas_u,
&uas_v,
&uas_w,
&uas_heading,
&ship_x,
&ship_y,
&ship_z,
&ship_u,
&ship_v,
&ship_w,
&ship_heading,
);
let straight_maneuver = get_straight_maneuver(
&events_per_second,
&uas_x,
&uas_y,
&uas_z,
&uas_u,
&uas_v,
&uas_w,
&uas_heading,
&ship_x,
&ship_y,
&ship_z,
&ship_u,
&ship_v,
&ship_w,
&ship_heading,
);
let oblique_maneuver = get_oblique_maneuver(
&events_per_second,
&uas_x,
&uas_y,
&uas_z,
&uas_u,
&uas_v,
&uas_w,
&uas_heading,
&ship_x,
&ship_y,
&ship_z,
&ship_u,
&ship_v,
&ship_w,
&ship_heading,
);
let deg45_maneuver = get_45deg_maneuver(
&events_per_second,
&uas_x,
&uas_y,
&uas_z,
&uas_u,
&uas_v,
&uas_w,
&uas_heading,
&ship_x,
&ship_y,
&ship_z,
&ship_u,
&ship_v,
&ship_w,
&ship_heading,
);
/*
Build tree
*/
let maneuvers = TbtNode::fallback(vec![
lateral_maneuver,
straight_maneuver,
oblique_maneuver,
deg45_maneuver,
]);
let descend = TbtNode::leaf(
Stl::eventually(Stl::atomic(
vec![uas_x, uas_y, uas_z, ship_x, ship_y, ship_z],
Rc::new(descend_touchdown),
)),
String::from("descend"),
);
let tbt_tree = TbtNode::sequence(maneuvers, descend);
Tbt::new(tbt_tree)
}
/**
*
* Actual Tests
*
**/
#[test]
fn test_globally() {
let signal_name = "a".to_string();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 1.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
-1.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 5.0,
],
3.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
1.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, -10.0,
],
-10.0,
),
(
vec![
-5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
-5.0,
),
(
vec![
-5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, -10.0,
],
-10.0,
),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::globally(Stl::atomic(
vec![signal_name.clone()],
Rc::new(|a: &[f32]| a[0]),
)),
String::from("globally"),
));
run_test(traces_with_expected_value, signal_name, tbt).unwrap();
}
#[test]
fn test_globally_interval() {
let signal_name = "a".to_string();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 1.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
-1.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 5.0,
],
3.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
1.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, -10.0,
],
-10.0,
),
(
vec![
-5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
-5.0,
),
(
vec![
-5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, -10.0,
],
-10.0,
),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::globally_interval(
0,
usize::MAX,
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
),
String::from("globally_interval"),
));
run_test(traces_with_expected_value.clone(), signal_name.clone(), tbt).unwrap();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 1.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
-1.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 2.0, 14.0, 5.0,
],
2.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
1.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, -10.0,
],
-10.0,
),
(
vec![
-5.0, 22.0, 3.0, -4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
-4.0,
),
(
vec![
-5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, -10.0,
],
-10.0,
),
(vec![2.0, 3.0], f32::NEG_INFINITY),
(vec![2.0, -3.0], f32::NEG_INFINITY),
(vec![-2.0, -3.0], f32::NEG_INFINITY),
(vec![-2.0, 3.0], f32::NEG_INFINITY),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::globally_interval(
3,
usize::MAX,
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
),
String::from("globally_interval"),
));
run_test(traces_with_expected_value.clone(), signal_name.clone(), tbt).unwrap();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 1.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
1.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 2.0, 14.0, 5.0,
],
3.0,
),
(
vec![
5.0, 22.0, 3.0, 1.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
1.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, -10.0, 21.0, 11.0, 32.0, 3.0, 14.0, -10.0,
],
-10.0,
),
(
vec![
-5.0, 22.0, 3.0, -4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
-4.0,
),
(
vec![
-5.0, 22.0, 3.0, 4.0, 5.0, -10.0, 21.0, 11.0, 32.0, 3.0, 14.0, -10.0,
],
-10.0,
),
(vec![2.0, 3.0, 3.0, 4.0], 4.0),
(vec![2.0, 3.0, 3.0, -4.0], -4.0),
(vec![2.0, 3.0], f32::NEG_INFINITY),
(vec![2.0, -3.0], f32::NEG_INFINITY),
(vec![-2.0, -3.0], f32::NEG_INFINITY),
(vec![-2.0, 3.0], f32::NEG_INFINITY),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::globally_interval(
3,
5,
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
),
String::from("globally_interval"),
));
run_test(traces_with_expected_value.clone(), signal_name.clone(), tbt).unwrap();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 10.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
1.0,
),
(
vec![
5.0, 22.0, 2.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 2.0, 14.0, 5.0,
],
2.0,
),
(
vec![
5.0, 22.0, 3.0, 2.0, 1.0, 0.0, -21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
0.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, -10.0, 21.0, 11.0, 32.0, 3.0, 14.0, -10.0,
],
-10.0,
),
(
vec![
-5.0, 22.0, 3.0, -4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
-5.0,
),
(
vec![
-5.0, 22.0, -13.0, 4.0, 5.0, -10.0, 21.0, 11.0, 32.0, 3.0, 14.0, -10.0,
],
-13.0,
),
(vec![2.0, 3.0, 3.0, 4.0], 2.0),
(vec![2.0, 3.0, 3.0, -4.0], -4.0),
(vec![2.0, 3.0], 2.0),
(vec![2.0, -3.0], -3.0),
(vec![-2.0, -3.0], -3.0),
(vec![-2.0, 3.0], -2.0),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::globally_interval(
0,
5,
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
),
String::from("globally_interval"),
));
run_test(traces_with_expected_value.clone(), signal_name.clone(), tbt).unwrap();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 10.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
5.0,
),
(
vec![
-5.0, 22.0, -13.0, 4.0, -5.0, -10.0, 21.0, 11.0, 32.0, 3.0, 14.0, -10.0,
],
-5.0,
),
(vec![2.0, 3.0], f32::NEG_INFINITY),
(vec![2.0, -3.0], f32::NEG_INFINITY),
(vec![-2.0, -3.0], f32::NEG_INFINITY),
(vec![-2.0, 3.0], f32::NEG_INFINITY),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::globally_interval(
4,
4,
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
),
String::from("globally_interval"),
));
run_test(traces_with_expected_value.clone(), signal_name.clone(), tbt).unwrap();
// Defines traces to test
let traces_with_expected_value = vec![(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 10.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
f32::NEG_INFINITY,
)];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::globally_interval(
4,
3,
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
),
String::from("globally_interval"),
));
run_test(traces_with_expected_value.clone(), signal_name, tbt).unwrap();
}
#[test]
fn test_eventually() {
let signal_name = "a".to_string();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 1.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
5.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 65.0,
],
65.0,
),
(
vec![
55.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
55.0,
),
(
vec![
-5.0, -22.0, -3.0, -4.0, -5.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -10.0,
],
-3.0,
),
(
vec![
-1.0, -22.0, -3.0, -4.0, -5.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -10.0,
],
-1.0,
),
(
vec![
-5.0, -22.0, -3.0, -4.0, -5.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -2.0,
],
-2.0,
),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::eventually(Stl::atomic(
vec![signal_name.clone()],
Rc::new(|a: &[f32]| a[0]),
)),
String::from("eventually"),
));
run_test(traces_with_expected_value, signal_name, tbt).unwrap();
}
#[test]
fn test_eventually_interval() {
let signal_name = "a".to_string();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 1.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
5.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 65.0,
],
65.0,
),
(
vec![
55.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
55.0,
),
(
vec![
-5.0, -22.0, -3.0, -4.0, -5.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -10.0,
],
-3.0,
),
(
vec![
-1.0, -22.0, -3.0, -4.0, -5.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -10.0,
],
-1.0,
),
(
vec![
-5.0, -22.0, -3.0, -4.0, -5.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -2.0,
],
-2.0,
),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::eventually_interval(
0,
usize::MAX,
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
),
String::from("eventually_interval"),
));
run_test(traces_with_expected_value.clone(), signal_name.clone(), tbt).unwrap();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 1.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
5.0,
),
(
vec![
5.0, 22.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 65.0,
],
65.0,
),
(
vec![
51.0, 22.0, 3.0, 4.0, 55.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
55.0,
),
(
vec![
-5.0, -22.0, -3.0, -4.0, -5.0, -1.0, -21.0, -11.0, -12.0, -3.0, -14.0, -10.0,
],
-1.0,
),
(
vec![
-1.0, -22.0, -3.0, -4.0, -5.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -10.0,
],
-3.0,
),
(
vec![
-5.0, -22.0, -3.0, -4.0, -5.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -2.0,
],
-2.0,
),
(vec![2.0, 3.0], f32::NEG_INFINITY),
(vec![2.0, -3.0], f32::NEG_INFINITY),
(vec![-2.0, -3.0], f32::NEG_INFINITY),
(vec![-2.0, 3.0], f32::NEG_INFINITY),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::eventually_interval(
3,
usize::MAX,
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
),
String::from("eventually_interval"),
));
run_test(traces_with_expected_value.clone(), signal_name.clone(), tbt).unwrap();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 1.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
5.0,
),
(
vec![
5.0, 22.0, 3.0, 10.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 65.0,
],
10.0,
),
(
vec![
55.0, 22.0, 3.0, 4.0, 5.0, 30.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
30.0,
),
(
vec![
-5.0, -22.0, -3.0, -4.0, -1.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -10.0,
],
-1.0,
),
(
vec![
-5.0, -22.0, -3.0, -4.0, 1.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -10.0,
],
1.0,
),
(
vec![
-1.0, -22.0, -3.0, -4.0, -5.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -10.0,
],
-3.0,
),
(
vec![
-1.0, -22.0, -3.0, -3.0, -5.0, -4.0, -21.0, -11.0, -12.0, -3.0, -14.0, -2.0,
],
-3.0,
),
(vec![2.0, 3.0, 3.0, 4.0], 4.0),
(vec![2.0, 3.0, 3.0, -4.0], -4.0),
(vec![2.0, 3.0], f32::NEG_INFINITY),
(vec![2.0, -3.0], f32::NEG_INFINITY),
(vec![-2.0, -3.0], f32::NEG_INFINITY),
(vec![-2.0, 3.0], f32::NEG_INFINITY),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::eventually_interval(
3,
5,
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
),
String::from("eventually_interval"),
));
run_test(traces_with_expected_value.clone(), signal_name.clone(), tbt).unwrap();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 1.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
5.0,
),
(
vec![
15.0, 1.0, 3.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 65.0,
],
15.0,
),
(
vec![
55.0, 22.0, 333.0, 4.0, 5.0, 3.0, 21.0, 11.0, 32.0, 3.0, 14.0, 1.0,
],
333.0,
),
(
vec![
-5.0, -22.0, -5.0, -4.0, -5.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -10.0,
],
-3.0,
),
(
vec![
-1.0, -22.0, -3.0, -4.0, -5.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -10.0,
],
-1.0,
),
(
vec![
-5.0, -22.0, 3.0, -4.0, -5.0, -3.0, -21.0, -11.0, -12.0, -3.0, -14.0, -2.0,
],
3.0,
),
(vec![2.0, 3.0, 3.0, 4.0], 4.0),
(vec![2.0, 3.0, 3.0, -4.0], 3.0),
(vec![5.0, 3.0, 3.0, -4.0], 5.0),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::eventually_interval(
0,
5,
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
),
String::from("eventually_interval"),
));
run_test(traces_with_expected_value.clone(), signal_name.clone(), tbt).unwrap();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 10.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
5.0,
),
(
vec![
-5.0, 22.0, -13.0, 4.0, -5.0, -10.0, 21.0, 11.0, 32.0, 3.0, 14.0, -10.0,
],
-5.0,
),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::eventually_interval(
4,
4,
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
),
String::from("eventually_interval"),
));
run_test(traces_with_expected_value.clone(), signal_name.clone(), tbt).unwrap();
// Defines traces to test
let traces_with_expected_value = vec![(
vec![1.0, 2.0, 3.0, 4.0, 5.0, 10.0, 2.0, -1.0, 2.0, 3.0, 4.0, 5.0],
f32::NEG_INFINITY,
)];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::eventually_interval(
4,
3,
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
),
String::from("eventually_interval"),
));
run_test(traces_with_expected_value.clone(), signal_name, tbt).unwrap();
}
#[test]
fn test_until() {
// Defines traces to test
let signal_name = "a".to_string();
let traces_with_expected_value = vec![
(
vec![
1.0, 3.0, 3.0, 4.0, 5.0, 1.0, 2.0, -1.5, -2.0, -3.0, -4.0, -5.0,
],
1.0,
),
(
vec![
2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 1.0, -1.5, -2.0, -3.0, -4.0, -5.0,
],
1.0,
),
(
vec![
2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 2.0, -1.5, -2.0, -3.0, -4.0, -5.0,
],
1.5,
),
(
vec![
2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 2.0, -1.5, 2.0, 3.0, 4.0, -500000.0,
],
1.5,
),
(
vec![2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 2.0, 1.5, 2.0, 3.0, 4.0, -1.0],
1.0,
),
(
vec![-2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 2.0, 1.5, 2.0, 3.0, 4.0, 1.0],
2.0,
),
(
vec![2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 2.0, 3.5, 2.0, 3.0, 4.0, 3.0],
-2.0,
),
(
vec![2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 2.0, 1.5, 2.0, 3.0, 4.0, 1.0],
-1.0,
),
(
vec![2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 2.0, 1.5, 2.0, 3.0, 4.0, 10.0],
-1.5,
),
];
// Define Tree
let tbt = Tbt::new(TbtNode::leaf(
Stl::until(
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| a[0])),
Stl::atomic(vec![signal_name.clone()], Rc::new(|a: &[f32]| -a[0])),
),
String::from("until"),
));
run_test(traces_with_expected_value, signal_name, tbt).unwrap();
}
#[test]
fn test_until_interval() {
let signal_name = "a".to_string();
// Defines traces to test
let traces_with_expected_value = vec![
(
vec![
1.0, 3.0, 3.0, 4.0, 5.0, 1.0, 2.0, -1.5, -2.0, -3.0, -4.0, -5.0,
],
1.0,
),
(
vec![
2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 1.0, -1.5, -2.0, -3.0, -4.0, -5.0,
],
1.0,
),
(
vec![
2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 2.0, -1.5, -2.0, -3.0, -4.0, -5.0,
],
1.5,
),
(
vec![
2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 2.0, -1.5, 2.0, 3.0, 4.0, -500000.0,
],
1.5,
),
(
vec![2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 2.0, 1.5, 2.0, 3.0, 4.0, -1.0],
1.0,
),
(
vec![-2.0, 3.0, 3.0, 4.0, 5.0, 3.0, 2.0, 1.5, 2.0, 3.0, 4.0, 1.0],
2.0,
),