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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
ParallelContainer: unittests
This commit is contained in:
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commit
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@ -187,7 +187,7 @@ protected:
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class Alternatives : public ParallelContainerBase
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{
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public:
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Alternatives(const std::string &name) : ParallelContainerBase(name) {}
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Alternatives(const std::string &name = "alternatives") : ParallelContainerBase(name) {}
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bool canCompute() const override;
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bool compute() override;
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@ -205,7 +205,7 @@ class Fallbacks : public ParallelContainerBase
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mutable Stage* active_child_ = nullptr;
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public:
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Fallbacks(const std::string &name) : ParallelContainerBase(name) {}
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Fallbacks(const std::string &name = "fallbacks") : ParallelContainerBase(name) {}
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void reset() override;
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void init(const moveit::core::RobotModelConstPtr& robot_model) override;
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@ -100,29 +100,56 @@ TEST(ContainerBase, position) {
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}
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class SerialTest : public ::testing::Test {
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template <typename Container>
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class InitTest : public ::testing::Test {
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protected:
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moveit::core::RobotModelConstPtr robot_model;
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SerialContainer serial;
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Container container;
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InterfacePtr dummy;
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SerialTest() : ::testing::Test(), dummy(new Interface) {}
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InitTest() : ::testing::Test(), dummy(new Interface) {}
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void pushInterface(bool start=true, bool end=true) {
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// pretend, that the container is connected
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SerialContainerPrivate *impl = serial.pimpl();
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ContainerBasePrivate *impl = container.pimpl();
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if (start) impl->setPrevEnds(dummy);
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if (end) impl->setNextStarts(dummy);
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}
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void reset(bool start=true, bool end=true) {
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serial.reset();
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serial.clear();
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SerialContainerPrivate *impl = serial.pimpl();
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container.reset();
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container.clear();
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ContainerBasePrivate *impl = container.pimpl();
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impl->setNextStarts(InterfacePtr());
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impl->setPrevEnds(InterfacePtr());
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pushInterface(start, end);
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}
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void validateInit(bool start, bool end, const std::initializer_list<StageType>& types, bool expect_failure) {
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reset(start, end);
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append(container, types);
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try {
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container.init(robot_model);
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// prune pull interfaces based on provided external interface (start, end)
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InterfaceFlags accepted;
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if (start) accepted |= WRITES_PREV_END;
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if (end) accepted |= WRITES_NEXT_START;
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container.pimpl()->pruneInterface(accepted);
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container.validateConnectivity();
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if (!expect_failure) return; // as expected
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ADD_FAILURE() << "init() didn't recognize a failure condition as expected\n" << container;
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} catch (const InitStageException &e) {
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if (expect_failure) return; // as expected
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ADD_FAILURE() << "unexpected init failure: \n" << e << "\n" << container;
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} catch (const std::exception &e) {
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ADD_FAILURE() << "unexpected exception thrown:\n" << e.what();
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} catch (...) {
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ADD_FAILURE() << "unexpected unknown exception thrown";
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}
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}
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};
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class SerialTest : public InitTest<SerialContainer> {
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protected:
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void validateOrder(const SerialContainerPrivate* container, const std::initializer_list<StagePrivate*> &expected) {
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size_t num = container->children().size();
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ASSERT_TRUE(num == expected.size()) << "different list lengths";
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@ -142,28 +169,6 @@ protected:
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EXPECT_EQ(it, container->position(pos-num-1)) << "bad backward position resolution";
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}
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}
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void validateInit(bool start, bool end, const std::initializer_list<StageType>& types, bool expect_failure) {
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reset(start, end);
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append(serial, types);
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try {
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serial.init(robot_model);
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// prune pull interfaces based on provided external interface (start, end)
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InterfaceFlags accepted;
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if (start) accepted |= WRITES_PREV_END;
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if (end) accepted |= WRITES_NEXT_START;
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serial.pimpl()->pruneInterface(accepted);
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serial.validateConnectivity();
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if (!expect_failure) return; // as expected
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ADD_FAILURE() << "init() didn't recognize a failure condition as expected\n" << serial;
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} catch (const InitStageException &e) {
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if (expect_failure) return; // as expected
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ADD_FAILURE() << "unexpected init failure: \n" << e << "\n" << serial;
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} catch (const std::exception &e) {
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ADD_FAILURE() << "unexpected exception thrown:\n" << e.what();
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} catch (...) {
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ADD_FAILURE() << "unexpected unknown exception thrown";
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}
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}
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};
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#define VALIDATE(...) {\
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@ -172,37 +177,37 @@ protected:
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}
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TEST_F(SerialTest, insertion_order) {
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SerialContainerPrivate *impl = serial.pimpl();
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SerialContainerPrivate *impl = container.pimpl();
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EXPECT_EQ(impl->parent(), nullptr);
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EXPECT_THROW(serial.init(robot_model), InitStageException);
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EXPECT_THROW(container.init(robot_model), InitStageException);
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VALIDATE();
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/***** inserting first stage *****/
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auto g = std::make_unique<GeneratorMockup>();
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StagePrivate *gp = g->pimpl();
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ASSERT_TRUE(serial.insert(std::move(g)));
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ASSERT_TRUE(container.insert(std::move(g)));
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EXPECT_FALSE(g); // ownership transferred to container
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VALIDATE(gp);
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/***** inserting second stage *****/
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auto f = std::make_unique<ForwardMockup>();
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StagePrivate *fp = f->pimpl();
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ASSERT_TRUE(serial.insert(std::move(f)));
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ASSERT_TRUE(container.insert(std::move(f)));
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EXPECT_FALSE(f); // ownership transferred to container
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VALIDATE(gp, fp);
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/***** inserting third stage *****/
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auto f2 = std::make_unique<ForwardMockup>();
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StagePrivate *fp2 = f2->pimpl();
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ASSERT_TRUE(serial.insert(std::move(f2), 1));
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ASSERT_TRUE(container.insert(std::move(f2), 1));
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EXPECT_FALSE(f2); // ownership transferred to container
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VALIDATE(gp, fp2, fp);
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/***** inserting another generator stage *****/
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auto g2 = std::make_unique<GeneratorMockup>();
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StagePrivate *gp2 = g2->pimpl();
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ASSERT_TRUE(serial.insert(std::move(g2)));
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ASSERT_TRUE(container.insert(std::move(g2)));
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VALIDATE(gp, fp2, fp, gp2);
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}
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@ -219,27 +224,27 @@ TEST_F(SerialTest, insertion_order) {
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TEST_F(SerialTest, init_empty) {
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EXPECT_INIT_FAILURE(true, true); // no children
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_INIT_FAILURE(false, false); // no children
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags());
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags());
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}
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TEST_F(SerialTest, init_connecting) {
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EXPECT_INIT_SUCCESS(false, false, CONN);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags());
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
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EXPECT_INIT_FAILURE(true, true, CONN);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags({CONNECT, GENERATE}));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags({CONNECT, GENERATE}));
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EXPECT_INIT_FAILURE(false, false, CONN, CONN); // two connecting stages cannot be connected
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}
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TEST_F(SerialTest, init_generator) {
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EXPECT_INIT_SUCCESS(true, true, GEN);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags());
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
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EXPECT_INIT_FAILURE(false, false, GEN); // generator wants to push, but container cannot propagate pushes
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@ -254,13 +259,13 @@ TEST_F(SerialTest, init_forward) {
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// these should be fine
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EXPECT_INIT_SUCCESS(false, true, FW);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags());
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EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
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EXPECT_INIT_SUCCESS(false, true, FW, FW);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags());
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EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
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EXPECT_INIT_SUCCESS(true, true, GEN, FW);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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}
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TEST_F(SerialTest, init_backward) {
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@ -271,69 +276,169 @@ TEST_F(SerialTest, init_backward) {
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// these should be fine
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EXPECT_INIT_SUCCESS(true, false, BW);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags());
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EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
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EXPECT_INIT_SUCCESS(true, false, BW, BW);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags());
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EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
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EXPECT_INIT_SUCCESS(true, true, BW, GEN);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_INIT_SUCCESS(true, true, BW, GEN, FW);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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}
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TEST_F(SerialTest, interface_detection) {
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// derive propagation direction from inner generator
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EXPECT_INIT_SUCCESS(true, true, ANY, GEN, ANY); // <- <-> ->
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auto it = serial.pimpl()->children().begin();
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auto it = container.pimpl()->children().begin();
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EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS));
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EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS));
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_INIT_SUCCESS(true, true, GEN, ANY);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_INIT_SUCCESS(true, true, ANY, GEN);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
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// derive propagation direction from inner connector
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EXPECT_INIT_SUCCESS(false, false, ANY, CONN, ANY); // -> -- <-
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it = serial.pimpl()->children().begin();
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it = container.pimpl()->children().begin();
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EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS));
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EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
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EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS));
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
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EXPECT_INIT_SUCCESS(false, false, CONN, ANY);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
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EXPECT_INIT_SUCCESS(false, false, ANY, CONN);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
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// derive propagation direction from outer interface
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EXPECT_INIT_SUCCESS(false, true, ANY, ANY); // -> ->
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it = serial.pimpl()->children().begin();
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it = container.pimpl()->children().begin();
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EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS));
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EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS));
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS));
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EXPECT_INIT_SUCCESS(true, false, ANY, ANY); // <- <-
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it = serial.pimpl()->children().begin();
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it = container.pimpl()->children().begin();
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EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS));
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EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS));
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS));
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EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS));
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EXPECT_INIT_SUCCESS(true, true, ANY, ANY); // <> <>
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it = serial.pimpl()->children().begin();
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it = container.pimpl()->children().begin();
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EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
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EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
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EXPECT_INIT_FAILURE(false, false, ANY, ANY); // -- --
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it = serial.pimpl()->children().begin();
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it = container.pimpl()->children().begin();
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EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), UNKNOWN);
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EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), UNKNOWN);
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EXPECT_EQ(serial.pimpl()->interfaceFlags(), UNKNOWN);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), UNKNOWN);
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}
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class ParallelTest : public InitTest<Alternatives> {
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};
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TEST_F(ParallelTest, init_propagating) {
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EXPECT_INIT_SUCCESS(true, true, BW, FW);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
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EXPECT_INIT_SUCCESS(true, true, BOTH, BOTH);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
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EXPECT_INIT_SUCCESS(true, true, BW, BOTH);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
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EXPECT_INIT_SUCCESS(true, true, FW, BOTH);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
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EXPECT_INIT_SUCCESS(true, true, FW, BOTH, FW);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
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EXPECT_INIT_SUCCESS(true, true, FW, BW, FW);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
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EXPECT_INIT_SUCCESS(true, true, BW, FW, BW);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
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EXPECT_INIT_SUCCESS(false, true, FW, FW);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_FORWARDS);
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EXPECT_INIT_SUCCESS(true, false, BW, BW);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BACKWARDS);
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// external interface doesn't match derived
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EXPECT_INIT_FAILURE(false, false, BOTH);
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EXPECT_INIT_FAILURE(false, true, BOTH);
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EXPECT_INIT_FAILURE(true, false, BOTH);
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EXPECT_INIT_FAILURE(false, false, BW, BW);
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EXPECT_INIT_FAILURE(false, true, BW, BW);
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EXPECT_INIT_FAILURE(true, true, BW, BW);
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EXPECT_INIT_FAILURE(false, false, FW, FW);
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EXPECT_INIT_FAILURE(true, false, FW, FW);
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EXPECT_INIT_FAILURE(true, true, FW, FW);
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}
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TEST_F(ParallelTest, init_matching) {
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EXPECT_INIT_SUCCESS(true, true, GEN, GEN);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), GENERATE);
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EXPECT_INIT_SUCCESS(false, false, CONN, CONN);
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EXPECT_EQ(container.pimpl()->interfaceFlags(), CONNECT);
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// external interface doesn't match derived
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EXPECT_INIT_FAILURE(false, false, GEN, GEN);
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EXPECT_INIT_FAILURE(true, false, GEN, GEN);
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EXPECT_INIT_FAILURE(false, true, GEN, GEN);
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EXPECT_INIT_FAILURE(true, false, CONN, CONN);
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EXPECT_INIT_FAILURE(false, true, CONN, CONN);
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EXPECT_INIT_FAILURE(true, true, CONN, CONN);
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}
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TEST_F(ParallelTest, init_mismatching) {
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EXPECT_INIT_FAILURE(false, false, BW, CONN);
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EXPECT_INIT_FAILURE(true, false, BW, CONN);
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EXPECT_INIT_FAILURE(false, true, BW, CONN);
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EXPECT_INIT_FAILURE(true, true, BW, CONN);
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EXPECT_INIT_FAILURE(false, false, FW, CONN);
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EXPECT_INIT_FAILURE(true, false, FW, CONN);
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EXPECT_INIT_FAILURE(false, true, FW, CONN);
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EXPECT_INIT_FAILURE(true, true, FW, CONN);
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EXPECT_INIT_FAILURE(false, false, BW, GEN);
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EXPECT_INIT_FAILURE(true, false, BW, GEN);
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EXPECT_INIT_FAILURE(false, true, BW, GEN);
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EXPECT_INIT_FAILURE(true, true, BW, GEN);
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EXPECT_INIT_FAILURE(false, false, FW, GEN);
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EXPECT_INIT_FAILURE(true, false, FW, GEN);
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EXPECT_INIT_FAILURE(false, true, FW, GEN);
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EXPECT_INIT_FAILURE(true, true, FW, GEN);
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EXPECT_INIT_FAILURE(false, false, CONN, GEN);
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EXPECT_INIT_FAILURE(true, false, CONN, GEN);
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EXPECT_INIT_FAILURE(false, true, CONN, GEN);
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EXPECT_INIT_FAILURE(true, true, CONN, GEN);
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EXPECT_INIT_FAILURE(false, false, BOTH, CONN);
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EXPECT_INIT_FAILURE(true, false, BOTH, CONN);
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EXPECT_INIT_FAILURE(false, true, BOTH, CONN);
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EXPECT_INIT_FAILURE(true, true, BOTH, CONN);
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EXPECT_INIT_FAILURE(false, false, BOTH, GEN);
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EXPECT_INIT_FAILURE(true, false, BOTH, GEN);
|
||||
EXPECT_INIT_FAILURE(false, true, BOTH, GEN);
|
||||
EXPECT_INIT_FAILURE(true, true, BOTH, GEN);
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user