From 9517b5b68227ae6cf3ef6f6cf216b46e35121a6b Mon Sep 17 00:00:00 2001
From: Travis Hunter <travis@travishunter.io>
Date: Fri, 20 Oct 2023 17:03:52 -0600
Subject: [PATCH] Added first model tests. Super basic Part test

---
 model/CMakeLists.txt       |  3 ++
 model/Part.cpp             | 26 ++++++++++++-
 model/Part.h               | 11 +++++-
 model/Stage.h              | 10 ++++-
 model/tests/CMakeLists.txt | 15 +++++++
 model/tests/PartTests.cpp  | 80 ++++++++++++++++++++++++++++++++++++++
 6 files changed, 140 insertions(+), 5 deletions(-)
 create mode 100644 model/tests/CMakeLists.txt
 create mode 100644 model/tests/PartTests.cpp

diff --git a/model/CMakeLists.txt b/model/CMakeLists.txt
index c943867..d3a8f14 100644
--- a/model/CMakeLists.txt
+++ b/model/CMakeLists.txt
@@ -16,3 +16,6 @@ add_library(model
 
 target_link_libraries(model PRIVATE
    utils)
+
+# Unit tests
+add_subdirectory(tests)
diff --git a/model/Part.cpp b/model/Part.cpp
index be05350..8cae619 100644
--- a/model/Part.cpp
+++ b/model/Part.cpp
@@ -4,8 +4,30 @@
 namespace model
 {
 
-Part::Part()
-{}
+Part::Part(const std::string& n,
+           const Matrix3& I,
+           double m,
+           const Vector3& centerMass,
+           double l,
+           double inRadTop,
+           double outRadTop,
+           double inRadBottom,
+           double outRadBottom)
+   : parent(nullptr),
+     name(n),
+     inertiaTensor(I),
+     compositeInertiaTensor(I),
+     mass(m),
+     compositeMass(m),
+     cm(centerMass),
+     length(l),
+     innerRadiusTop(inRadTop),
+     outerRadiusTop(outRadTop),
+     innerRadiusBottom(inRadBottom),
+     outerRadiusBottom(outRadBottom),
+     needsRecomputing(false),
+     childParts()
+{ }
 
 Part::~Part()
 {}
diff --git a/model/Part.h b/model/Part.h
index 7926c21..03da6bf 100644
--- a/model/Part.h
+++ b/model/Part.h
@@ -21,7 +21,16 @@ namespace model
 class Part
 {
 public:
-   Part();
+   Part(const std::string& name,
+        const Matrix3& I,
+        double m,
+        const Vector3& centerMass,
+        double length,
+        double inRadTop,
+        double outRadTop,
+        double inRadBottom,
+        double outRadBottom);
+
    virtual ~Part();
 
    Part(const Part&);
diff --git a/model/Stage.h b/model/Stage.h
index c3df69f..f215674 100644
--- a/model/Stage.h
+++ b/model/Stage.h
@@ -5,6 +5,7 @@
 // C headers
 // C++ headers
 #include <string>
+#include <memory>
 
 // 3rd party headers
 /// \endcond
@@ -37,7 +38,12 @@ public:
 
    virtual double getMass(double t) override
    {
-      return topPart.getCompositeMass(t) + mm.getMass(t);
+      if(topPart)
+      {
+         return topPart->getCompositeMass(t) + mm.getMass(t);
+      }
+      else
+         return 0.0;
    }
 
    virtual double getDragCoefficient() override { return 1.0 ;}
@@ -58,7 +64,7 @@ public:
 private:
    std::string name;
 
-   Part topPart;
+   std::shared_ptr<Part> topPart;
 
    model::MotorModel mm;
    Vector3 motorModelPosition; // position of motor cg w.r.t. the stage c.g.
diff --git a/model/tests/CMakeLists.txt b/model/tests/CMakeLists.txt
new file mode 100644
index 0000000..5ff53a7
--- /dev/null
+++ b/model/tests/CMakeLists.txt
@@ -0,0 +1,15 @@
+enable_testing()
+
+add_executable(model_tests
+   PartTests.cpp
+)
+
+target_link_libraries(model_tests PRIVATE
+   model
+   utils
+   GTest::gtest_main
+)
+
+include(GoogleTest)
+gtest_discover_tests(model_tests)
+
diff --git a/model/tests/PartTests.cpp b/model/tests/PartTests.cpp
new file mode 100644
index 0000000..f985d3a
--- /dev/null
+++ b/model/tests/PartTests.cpp
@@ -0,0 +1,80 @@
+#include <gtest/gtest.h>
+
+#include "model/Part.h"
+
+class PartTest : public testing::Test
+{
+protected:
+  // Per-test-suite set-up.
+  // Called before the first test in this test suite.
+  // Can be omitted if not needed.
+  static void SetUpTestSuite()
+  {
+    //shared_resource_ = new ...;
+
+    // If `shared_resource_` is **not deleted** in `TearDownTestSuite()`,
+    // reallocation should be prevented because `SetUpTestSuite()` may be called
+    // in subclasses of FooTest and lead to memory leak.
+    //
+    // if (shared_resource_ == nullptr) {
+    //   shared_resource_ = new ...;
+    // }
+  }
+
+  // Per-test-suite tear-down.
+  // Called after the last test in this test suite.
+  // Can be omitted if not needed.
+  static void TearDownTestSuite()
+  {
+    //delete shared_resource_;
+    //shared_resource_ = nullptr;
+  }
+
+  // You can define per-test set-up logic as usual.
+  void SetUp() override { }
+
+  // You can define per-test tear-down logic as usual.
+  void TearDown() override { }
+
+  // Some expensive resource shared by all tests.
+  //static T* shared_resource_;
+};
+
+//T* FooTest::shared_resource_ = nullptr;
+
+TEST(PartTest, CreationTests)
+{
+   Matrix3 inertia;
+   inertia << 1, 0, 0,
+              0, 1, 0,
+              0, 0, 1;
+   Vector3 cm{1, 0, 0};
+   model::Part testPart("testPart",
+                        inertia,
+                        1.0,
+                        cm,
+                        2.0,
+                        1.0,
+                        1.1,
+                        1.1,
+                        1.0);
+   
+   Matrix3 inertia2;
+   inertia2 << 1, 0, 0,
+               0, 1, 0,
+               0, 0, 1;
+   Vector3 cm2{1, 0, 0};
+   model::Part testPart2("testPart2",
+                        inertia2,
+                        1.0,
+                        cm2,
+                        2.0,
+                        1.0,
+                        1.1,
+                        1.1,
+                        1.0);
+   Vector3 R{2.0, 2.0, 2.0};
+   testPart.addChildPart(testPart2, R);
+
+   
+}
\ No newline at end of file