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       1                 :            : // ----------------- BEGIN LICENSE BLOCK ---------------------------------
       2                 :            : //
       3                 :            : // Copyright (C) 2018-2021 Intel Corporation
       4                 :            : //
       5                 :            : // SPDX-License-Identifier: LGPL-2.1-only
       6                 :            : //
       7                 :            : // ----------------- END LICENSE BLOCK -----------------------------------
       8                 :            : 
       9                 :            : #include "TestSupport.hpp"
      10                 :            : #include "ad/rss/structured/RssIntersectionConstellationChecker.hpp"
      11                 :            : 
      12                 :            : namespace ad {
      13                 :            : namespace rss {
      14                 :            : namespace structured {
      15                 :            : 
      16                 :            : class RssIntersectionConstellationCheckerInputRangeTests : public testing::Test
      17                 :            : {
      18                 :            : protected:
      19                 :          4 :   virtual void SetUp()
      20                 :            :   {
      21                 :          4 :     constellation.constellation_type = world::ConstellationType::IntersectionEgoHasPriority;
      22                 :          4 :   }
      23                 :            : 
      24                 :          3 :   void performTestRun()
      25                 :            :   {
      26                 :          3 :     RssIntersectionConstellationChecker checker;
      27   [ +  -  -  +  :          3 :     EXPECT_FALSE(checker.calculateRssStateIntersection(time_index++, constellation, rssState));
          -  -  -  -  -  
                -  -  - ]
      28                 :          3 :   }
      29                 :            :   core::RelativeObjectState leadingVehicle;
      30                 :            :   core::RelativeObjectState followingVehicle;
      31                 :            :   core::RelativeConstellation constellation;
      32                 :            :   state::RssState rssState;
      33                 :            :   world::TimeIndex time_index{1u};
      34                 :            : };
      35                 :            : 
      36                 :          4 : TEST_F(RssIntersectionConstellationCheckerInputRangeTests, no_priority_vehicle)
      37                 :            : {
      38                 :          1 :   RssIntersectionConstellationChecker checker;
      39         [ +  - ]:          1 :   leadingVehicle = createRelativeVehicleStateForLongitudinalMotion(50);
      40                 :          1 :   leadingVehicle.structured_object_state.distance_to_enter_intersection = Distance(10.);
      41                 :          1 :   leadingVehicle.structured_object_state.distance_to_leave_intersection = Distance(10.);
      42         [ +  - ]:          1 :   followingVehicle = createRelativeVehicleStateForLongitudinalMotion(50);
      43                 :          1 :   followingVehicle.dynamics.alpha_lon.accel_max = Acceleration(2.);
      44                 :          1 :   followingVehicle.dynamics.alpha_lon.brake_min = Acceleration(-4.);
      45                 :          1 :   followingVehicle.structured_object_state.distance_to_enter_intersection = Distance(70.);
      46                 :          1 :   followingVehicle.structured_object_state.distance_to_leave_intersection = Distance(70.);
      47                 :            : 
      48                 :          1 :   constellation.ego_state = leadingVehicle;
      49                 :          1 :   constellation.other_state = followingVehicle;
      50                 :            :   constellation.relative_position
      51         [ +  - ]:          1 :     = createRelativeLongitudinalPosition(core::LongitudinalRelativePosition::InFront, Distance(60.));
      52                 :            : 
      53   [ +  -  -  +  :          1 :   ASSERT_TRUE(checker.calculateRssStateIntersection(time_index++, constellation, rssState));
          -  -  -  -  -  
             -  -  -  +  
                      - ]
      54         [ +  - ]:          1 : }
      55                 :            : 
      56                 :          4 : TEST_F(RssIntersectionConstellationCheckerInputRangeTests, distanceToLeaveSmallerEgo)
      57                 :            : {
      58                 :          1 :   constellation.ego_state = createRelativeVehicleStateForLongitudinalMotion(120);
      59                 :          1 :   constellation.ego_state.structured_object_state.distance_to_enter_intersection = Distance(15.);
      60                 :          1 :   constellation.ego_state.structured_object_state.distance_to_leave_intersection = Distance(14.);
      61                 :            : 
      62                 :          1 :   constellation.ego_state.dynamics.alpha_lon.accel_max = Acceleration(2.);
      63                 :          1 :   constellation.ego_state.dynamics.alpha_lon.brake_min = Acceleration(-4.);
      64                 :            : 
      65                 :          1 :   constellation.other_state = createRelativeVehicleStateForLongitudinalMotion(10);
      66                 :          1 :   constellation.other_state.dynamics.alpha_lon.accel_max = Acceleration(2.);
      67                 :          1 :   constellation.other_state.dynamics.alpha_lon.brake_min = Acceleration(-4.);
      68                 :          1 :   constellation.other_state.structured_object_state.distance_to_enter_intersection = Distance(16.);
      69                 :          1 :   constellation.other_state.structured_object_state.distance_to_leave_intersection = Distance(16.);
      70                 :          1 :   constellation.other_state.structured_object_state.has_priority = true;
      71                 :            : 
      72                 :            :   constellation.relative_position
      73         [ +  - ]:          1 :     = createRelativeLongitudinalPosition(core::LongitudinalRelativePosition::AtBack, Distance(1.));
      74                 :            : 
      75                 :          1 :   performTestRun();
      76                 :          1 : }
      77                 :            : 
      78                 :          4 : TEST_F(RssIntersectionConstellationCheckerInputRangeTests, distanceToLeaveSmallerOther)
      79                 :            : {
      80                 :          1 :   constellation.ego_state = createRelativeVehicleStateForLongitudinalMotion(120);
      81                 :          1 :   constellation.ego_state.structured_object_state.distance_to_enter_intersection = Distance(15.);
      82                 :          1 :   constellation.ego_state.structured_object_state.distance_to_leave_intersection = Distance(15.);
      83                 :            : 
      84                 :          1 :   constellation.ego_state.dynamics.alpha_lon.accel_max = Acceleration(2.);
      85                 :          1 :   constellation.ego_state.dynamics.alpha_lon.brake_min = Acceleration(-4.);
      86                 :            : 
      87                 :          1 :   constellation.other_state = createRelativeVehicleStateForLongitudinalMotion(10);
      88                 :          1 :   constellation.other_state.dynamics.alpha_lon.accel_max = Acceleration(2.);
      89                 :          1 :   constellation.other_state.dynamics.alpha_lon.brake_min = Acceleration(-4.);
      90                 :          1 :   constellation.other_state.structured_object_state.distance_to_enter_intersection = Distance(16.);
      91                 :          1 :   constellation.other_state.structured_object_state.distance_to_leave_intersection = Distance(15.);
      92                 :          1 :   constellation.other_state.structured_object_state.has_priority = true;
      93                 :            : 
      94                 :            :   constellation.relative_position
      95         [ +  - ]:          1 :     = createRelativeLongitudinalPosition(core::LongitudinalRelativePosition::AtBack, Distance(1.));
      96                 :            : 
      97                 :          1 :   performTestRun();
      98                 :          1 : }
      99                 :            : 
     100                 :          4 : TEST_F(RssIntersectionConstellationCheckerInputRangeTests, both_priority_vehicle)
     101                 :            : {
     102                 :          1 :   leadingVehicle = createRelativeVehicleStateForLongitudinalMotion(50);
     103                 :          1 :   leadingVehicle.structured_object_state.distance_to_enter_intersection = Distance(10.);
     104                 :          1 :   leadingVehicle.structured_object_state.distance_to_leave_intersection = Distance(10.);
     105                 :          1 :   leadingVehicle.structured_object_state.has_priority = true;
     106                 :            : 
     107                 :          1 :   followingVehicle = createRelativeVehicleStateForLongitudinalMotion(50);
     108                 :          1 :   followingVehicle.dynamics.alpha_lon.accel_max = Acceleration(2.);
     109                 :          1 :   followingVehicle.dynamics.alpha_lon.brake_min = Acceleration(-4.);
     110                 :          1 :   followingVehicle.structured_object_state.distance_to_enter_intersection = Distance(70.);
     111                 :          1 :   leadingVehicle.structured_object_state.distance_to_leave_intersection = Distance(70.);
     112                 :          1 :   followingVehicle.structured_object_state.has_priority = true;
     113                 :            : 
     114                 :          1 :   constellation.ego_state = leadingVehicle;
     115                 :          1 :   constellation.other_state = followingVehicle;
     116                 :            :   constellation.relative_position
     117         [ +  - ]:          1 :     = createRelativeLongitudinalPosition(core::LongitudinalRelativePosition::InFront, Distance(60.));
     118                 :            : 
     119                 :          1 :   performTestRun();
     120                 :          1 : }
     121                 :            : 
     122                 :            : } // namespace structured
     123                 :            : } // namespace rss
     124                 :            : } // namespace ad