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PX4-Autopilot/msg/translation_node/test/graph.cpp
Beat Küng f6bfa9812e msg: add message translation node for ROS
2025-02-11 13:19:25 +01:00

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/****************************************************************************
* Copyright (c) 2024 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#include <gtest/gtest.h>
#include <src/graph.h>
TEST(graph, basic)
{
struct NodeData {
bool iterated{false};
bool translated{false};
};
Graph<NodeData> graph;
const int32_t message1_value = 3;
const int32_t offset = 4;
// Add 2 nodes
const MessageIdentifier id1{"topic_name", 1};
auto buffer1 = std::make_shared<int32_t>();
*buffer1 = message1_value;
EXPECT_TRUE(graph.addNodeIfNotExists(id1, {}, buffer1));
EXPECT_FALSE(graph.addNodeIfNotExists(id1, {}, std::make_shared<int32_t>()));
const MessageIdentifier id2{"topic_name", 4};
auto buffer2 = std::make_shared<int64_t>();
*buffer2 = 773;
EXPECT_TRUE(graph.addNodeIfNotExists(id2, {}, buffer2));
// Search nodes
EXPECT_TRUE(graph.findNode(id1).has_value());
EXPECT_TRUE(graph.findNode(id2).has_value());
// Add 1 translation
auto translation_cb = [&offset](const std::vector<MessageBuffer>& a, std::vector<MessageBuffer>& b) {
auto a_value = static_cast<const int32_t*>(a[0].get());
auto b_value = static_cast<int64_t*>(b[0].get());
*b_value = *a_value + offset;
};
graph.addTranslation(translation_cb, {id1}, {id2});
// Iteration from id1 must reach id2
auto node1 = graph.findNode(id1).value();
auto node2 = graph.findNode(id2).value();
auto iterate_cb = [](const Graph<NodeData>::MessageNodePtr& node) {
node->data().iterated = true;
};
graph.iterateBFS(node1, iterate_cb);
EXPECT_TRUE(node1->data().iterated);
EXPECT_TRUE(node2->data().iterated);
node1->data().iterated = false;
node2->data().iterated = false;
// Iteration from id2 must not reach id1
graph.iterateBFS(node2, iterate_cb);
EXPECT_FALSE(node1->data().iterated);
EXPECT_TRUE(node2->data().iterated);
// Test translation
graph.translate(node1,
[](auto&& node) {
assert(!node->data().translated);
node->data().translated = true;
});
EXPECT_FALSE(node1->data().translated);
EXPECT_TRUE(node2->data().translated);
EXPECT_EQ(*buffer1, message1_value);
EXPECT_EQ(*buffer2, message1_value + offset);
}
TEST(graph, multi_path)
{
// Multiple paths with cycles
struct NodeData {
unsigned iterated_idx{0};
bool translated{false};
};
Graph<NodeData> graph;
static constexpr unsigned num_nodes = 6;
std::array<MessageIdentifier, num_nodes> ids{{
{"topic_name", 1},
{"topic_name", 2},
{"topic_name", 3},
{"topic_name", 4},
{"topic_name", 5},
{"topic_name", 6},
}};
std::array<std::shared_ptr<int32_t>, num_nodes> buffers{{
std::make_shared<int32_t>(),
std::make_shared<int32_t>(),
std::make_shared<int32_t>(),
std::make_shared<int32_t>(),
std::make_shared<int32_t>(),
std::make_shared<int32_t>(),
}};
// Nodes
for (unsigned i = 0; i < num_nodes; ++i) {
EXPECT_TRUE(graph.addNodeIfNotExists(ids[i], {}, buffers[i]));
}
// Translations
std::bitset<32> translated;
auto get_translation_cb = [&translated](unsigned bit) {
auto translation_cb = [&translated, bit](const std::vector<MessageBuffer> &a, std::vector<MessageBuffer> &b) {
auto a_value = static_cast<const int32_t *>(a[0].get());
auto b_value = static_cast<int32_t *>(b[0].get());
*b_value = *a_value | (1 << bit);
translated.set(bit);
};
return translation_cb;
};
// Graph:
// ___ 2 -- 3 -- 4
// | |
// 1 _______|
// |
// 5
// |
// 6
unsigned next_bit = 0;
// Connect each node to the previous and next, except the last 3
for (unsigned i=0; i < num_nodes - 3; ++i) {
graph.addTranslation(get_translation_cb(next_bit++), {ids[i]}, {ids[i+1]});
graph.addTranslation(get_translation_cb(next_bit++), {ids[i+1]}, {ids[i]});
}
// Connect the first to the 3rd as well
graph.addTranslation(get_translation_cb(next_bit++), {ids[0]}, {ids[2]});
graph.addTranslation(get_translation_cb(next_bit++), {ids[2]}, {ids[0]});
// Connect the second last to the first one
graph.addTranslation(get_translation_cb(next_bit++), {ids[0]}, {ids[num_nodes-2]});
graph.addTranslation(get_translation_cb(next_bit++), {ids[num_nodes-2]}, {ids[0]});
// Connect the second last to the last one
graph.addTranslation(get_translation_cb(next_bit++), {ids[num_nodes-1]}, {ids[num_nodes-2]});
graph.addTranslation(get_translation_cb(next_bit++), {ids[num_nodes-2]}, {ids[num_nodes-1]});
unsigned iteration_idx = 1;
graph.iterateBFS(graph.findNode(ids[0]).value(), [&iteration_idx](const Graph<NodeData>::MessageNodePtr& node) {
assert(node->data().iterated_idx == 0);
node->data().iterated_idx = iteration_idx++;
});
EXPECT_EQ(graph.findNode(ids[0]).value()->data().iterated_idx, 1);
// We're a bit stricter than we would have to be: ids[1,2,4] would be allowed to have any of the values (2,3,4)
EXPECT_EQ(graph.findNode(ids[1]).value()->data().iterated_idx, 2);
EXPECT_EQ(graph.findNode(ids[2]).value()->data().iterated_idx, 3);
EXPECT_EQ(graph.findNode(ids[4]).value()->data().iterated_idx, 4);
EXPECT_EQ(graph.findNode(ids[3]).value()->data().iterated_idx, 5);
// Translation
graph.translate(graph.findNode(ids[0]).value(),
[](auto&& node) {
assert(!node->data().translated);
node->data().translated = true;
});
// All nodes should be translated except the first
EXPECT_EQ(graph.findNode(ids[0]).value()->data().translated, false);
for (unsigned i = 1; i < num_nodes; ++i) {
EXPECT_EQ(graph.findNode(ids[i]).value()->data().translated, true) << "node[" << i << "]";
}
// Ensure the correct edges were used for translations
EXPECT_EQ("00000000000000000000100101010001", translated.to_string());
// Ensure correct translation path taken for each node (which is stored in the buffers),
// and translation callback got called
EXPECT_EQ(*buffers[0], 0);
EXPECT_EQ(*buffers[1], 0b1);
EXPECT_EQ(*buffers[2], 0b1000000);
EXPECT_EQ(*buffers[3], 0b1010000);
EXPECT_EQ(*buffers[4], 0b100000000);
EXPECT_EQ(*buffers[5], 0b100100000000);
for (unsigned i=0; i < num_nodes; ++i) {
printf("node[%i]: translated: %i, buffer: %i\n", i, graph.findNode(ids[i]).value()->data().translated,
*buffers[i]);
}
}
TEST(graph, multi_links) {
// Multiple topics (merging / splitting)
struct NodeData {
bool translated{false};
};
Graph<NodeData> graph;
static constexpr unsigned num_nodes = 6;
std::array<MessageIdentifier, num_nodes> ids{{
{"topic1", 1},
{"topic2", 1},
{"topic1", 2},
{"topic3", 1},
{"topic4", 1},
{"topic1", 3},
}};
std::array<std::shared_ptr<uint32_t>, num_nodes> buffers{{
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
}};
// Nodes
for (unsigned i = 0; i < num_nodes; ++i) {
EXPECT_TRUE(graph.addNodeIfNotExists(ids[i], {}, buffers[i]));
}
// Graph
// ___
// 1 - | | ---
// | | - 3 - | | - 6
// 2 - | | ---
// | ---
// | ___
// --- | | - 4
// | | - 5
// ---
// Translations
auto translation_cb_merge = [](const std::vector<MessageBuffer> &a, std::vector<MessageBuffer> &b) {
assert(a.size() == 2);
assert(b.size() == 1);
auto a_value1 = static_cast<const uint32_t *>(a[0].get());
auto a_value2 = static_cast<const uint32_t *>(a[1].get());
auto b_value = static_cast<uint32_t *>(b[0].get());
*b_value = *a_value1 | *a_value2;
};
auto translation_cb_split = [](const std::vector<MessageBuffer> &a, std::vector<MessageBuffer> &b) {
assert(a.size() == 1);
assert(b.size() == 2);
auto a_value = static_cast<const uint32_t *>(a[0].get());
auto b_value1 = static_cast<uint32_t *>(b[0].get());
auto b_value2 = static_cast<uint32_t *>(b[1].get());
*b_value1 = *a_value & 0x0000ffffu;
*b_value2 = *a_value & 0xffff0000u;
};
auto translation_cb_direct = [](const std::vector<MessageBuffer> &a, std::vector<MessageBuffer> &b) {
assert(a.size() == 1);
assert(b.size() == 1);
auto a_value = static_cast<const uint32_t *>(a[0].get());
auto b_value = static_cast<uint32_t *>(b[0].get());
*b_value = *a_value;
};
auto addTranslation = [&](const std::vector<MessageIdentifier>& inputs, const std::vector<MessageIdentifier>& outputs) {
assert(inputs.size() <= 2);
assert(outputs.size() <= 2);
if (inputs.size() == 1) {
if (outputs.size() == 1) {
graph.addTranslation(translation_cb_direct, inputs, outputs);
graph.addTranslation(translation_cb_direct, outputs, inputs);
} else {
graph.addTranslation(translation_cb_split, inputs, outputs);
graph.addTranslation(translation_cb_merge, outputs, inputs);
}
} else {
assert(outputs.size() == 1);
graph.addTranslation(translation_cb_merge, inputs, outputs);
graph.addTranslation(translation_cb_split, outputs, inputs);
}
};
addTranslation({ids[0], ids[1]}, {ids[2]});
addTranslation({ids[1]}, {ids[3], ids[4]});
addTranslation({ids[2]}, {ids[5]});
auto translate_node = [&](const MessageIdentifier& id) {
graph.translate(graph.findNode(id).value(),
[](auto&& node) {
assert(!node->data().translated);
node->data().translated = true;
});
};
auto reset_translated = [&]() {
for (const auto& id : ids) {
graph.findNode(id).value()->data().translated = false;
}
};
// Updating node 2 should trigger an output for nodes 4+5 (splitting)
*buffers[0] = 0xa00000b0;
*buffers[1] = 0x0f00000f;
translate_node(ids[1]);
EXPECT_EQ(graph.findNode(ids[0]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[1]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[2]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[3]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[4]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[5]).value()->data().translated, false);
EXPECT_EQ(*buffers[3], 0x0000000f);
EXPECT_EQ(*buffers[4], 0x0f000000);
reset_translated();
// Now updating node 1 should update nodes 3+6 (merging, both inputs available now)
translate_node(ids[0]);
EXPECT_EQ(graph.findNode(ids[0]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[1]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[2]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[3]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[4]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[5]).value()->data().translated, true);
EXPECT_EQ(*buffers[2], 0xaf0000bf);
EXPECT_EQ(*buffers[5], 0xaf0000bf);
reset_translated();
// Another update must not trigger any other updates
translate_node(ids[0]);
EXPECT_EQ(graph.findNode(ids[0]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[1]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[2]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[3]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[4]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[5]).value()->data().translated, false);
reset_translated();
// Backwards: updating node 6 should trigger updates for 1+2, but also 4+5
*buffers[5] = 0xc00000d0;
translate_node(ids[5]);
EXPECT_EQ(graph.findNode(ids[0]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[1]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[2]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[3]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[4]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[5]).value()->data().translated, false);
EXPECT_EQ(*buffers[0], 0x000000d0);
EXPECT_EQ(*buffers[1], 0xc0000000);
EXPECT_EQ(*buffers[2], 0xc00000d0);
EXPECT_EQ(*buffers[3], 0);
EXPECT_EQ(*buffers[4], 0xc0000000);
EXPECT_EQ(*buffers[5], 0xc00000d0);
}
TEST(graph, multi_links2) {
// Multiple topics (merging / splitting)
struct NodeData {
bool translated{false};
};
Graph<NodeData> graph;
static constexpr unsigned num_nodes = 8;
std::array<MessageIdentifier, num_nodes> ids{{
{"topic1", 1},
{"topic2", 1},
{"topic3", 1},
{"topic1", 2},
{"topic2", 2},
{"topic1", 3},
{"topic2", 3},
{"topic3", 3},
}};
std::array<std::shared_ptr<uint32_t>, num_nodes> buffers{{
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
}};
// Nodes
for (unsigned i = 0; i < num_nodes; ++i) {
EXPECT_TRUE(graph.addNodeIfNotExists(ids[i], {}, buffers[i]));
}
// Graph
// ___ ___
// 1 - | | | | - 6
// | | - 4 - | |
// 2 - | | | | - 7
// | | - 5 - | |
// 3 - | | | | - 8
// --- ---
// Translations
auto translation_cb_32 = [](const std::vector<MessageBuffer> &a, std::vector<MessageBuffer> &b) {
assert(a.size() == 3);
assert(b.size() == 2);
auto a_value1 = static_cast<const uint32_t *>(a[0].get());
auto a_value2 = static_cast<const uint32_t *>(a[1].get());
auto a_value3 = static_cast<const uint32_t *>(a[2].get());
auto b_value1 = static_cast<uint32_t *>(b[0].get());
auto b_value2 = static_cast<uint32_t *>(b[1].get());
*b_value1 = *a_value1 | *a_value2;
*b_value2 = *a_value3;
};
auto translation_cb_23 = [](const std::vector<MessageBuffer> &a, std::vector<MessageBuffer> &b) {
assert(a.size() == 2);
assert(b.size() == 3);
auto a_value1 = static_cast<const uint32_t *>(a[0].get());
auto a_value2 = static_cast<const uint32_t *>(a[1].get());
auto b_value1 = static_cast<uint32_t *>(b[0].get());
auto b_value2 = static_cast<uint32_t *>(b[1].get());
auto b_value3 = static_cast<uint32_t *>(b[2].get());
*b_value1 = *a_value1 & 0x0000ffffu;
*b_value2 = *a_value1 & 0xffff0000u;
*b_value3 = *a_value2;
};
graph.addTranslation(translation_cb_32, {ids[0], ids[1], ids[2]}, {ids[3], ids[4]});
graph.addTranslation(translation_cb_23, {ids[3], ids[4]}, {ids[0], ids[1], ids[2]});
graph.addTranslation(translation_cb_23, {ids[3], ids[4]}, {ids[5], ids[6], ids[7]});
graph.addTranslation(translation_cb_32, {ids[5], ids[6], ids[7]}, {ids[3], ids[4]});
auto translate_node = [&](const MessageIdentifier& id) {
graph.translate(graph.findNode(id).value(),
[](auto&& node) {
assert(!node->data().translated);
node->data().translated = true;
});
};
auto reset_translated = [&]() {
for (const auto& id : ids) {
graph.findNode(id).value()->data().translated = false;
}
};
// Updating nodes 1+2+3 should update nodes 6+7+8
*buffers[0] = 0xa00000b0;
*buffers[1] = 0x0f00000f;
*buffers[2] = 0x0c00000c;
translate_node(ids[1]);
translate_node(ids[0]);
translate_node(ids[2]);
EXPECT_EQ(graph.findNode(ids[3]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[4]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[5]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[6]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[7]).value()->data().translated, true);
EXPECT_EQ(*buffers[3], 0xa00000b0 | 0x0f00000f);
EXPECT_EQ(*buffers[4], 0x0c00000c);
EXPECT_EQ(*buffers[5], (0xa00000b0 | 0x0f00000f) & 0x0000ffffu);
EXPECT_EQ(*buffers[6], (0xa00000b0 | 0x0f00000f) & 0xffff0000u);
EXPECT_EQ(*buffers[7], 0x0c00000c);
reset_translated();
// Now updating nodes 6+7+8 should update nodes 1+2+3
*buffers[5] = 0xa00000b0;
*buffers[6] = 0x0f00000f;
*buffers[7] = 0x0c00000c;
translate_node(ids[5]);
translate_node(ids[6]);
translate_node(ids[7]);
EXPECT_EQ(graph.findNode(ids[0]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[1]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[2]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[3]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[4]).value()->data().translated, true);
EXPECT_EQ(*buffers[3], 0xa00000b0 | 0x0f00000f);
EXPECT_EQ(*buffers[4], 0x0c00000c);
EXPECT_EQ(*buffers[0], (0xa00000b0 | 0x0f00000f) & 0x0000ffffu);
EXPECT_EQ(*buffers[1], (0xa00000b0 | 0x0f00000f) & 0xffff0000u);
EXPECT_EQ(*buffers[2], 0x0c00000c);
}
TEST(graph, multi_links3) {
// Multiple topics (cannot use the shortest path)
struct NodeData {
bool translated{false};
};
Graph<NodeData> graph;
static constexpr unsigned num_nodes = 7;
std::array<MessageIdentifier, num_nodes> ids{{
{"topic1", 1},
{"topic2", 1},
{"topic1", 2},
{"topic1", 3},
{"topic1", 4},
{"topic2", 4},
{"topic1", 5},
}};
std::array<std::shared_ptr<uint32_t>, num_nodes> buffers{{
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
std::make_shared<uint32_t>(),
}};
// Nodes
for (unsigned i = 0; i < num_nodes; ++i) {
EXPECT_TRUE(graph.addNodeIfNotExists(ids[i], {}, buffers[i]));
}
// Graph
// ___ ___ ___ ___
// 1 - | | - 3 - | | - 4 - | | - 5 - | | - 7
// | | --- --- | |
// | | | |
// 2 - | | --------------------- 6 - | |
// --- ---
// Translations
auto translation_cb_21 = [](const std::vector<MessageBuffer> &a, std::vector<MessageBuffer> &b) {
assert(a.size() == 2);
assert(b.size() == 1);
auto a_value1 = static_cast<const uint32_t *>(a[0].get());
auto a_value2 = static_cast<const uint32_t *>(a[1].get());
auto b_value1 = static_cast<uint32_t *>(b[0].get());
*b_value1 = *a_value1 | *a_value2;
};
auto translation_cb_22 = [](const std::vector<MessageBuffer> &a, std::vector<MessageBuffer> &b) {
assert(a.size() == 2);
assert(b.size() == 2);
auto a_value1 = static_cast<const uint32_t *>(a[0].get());
auto a_value2 = static_cast<const uint32_t *>(a[1].get());
auto b_value1 = static_cast<uint32_t *>(b[0].get());
auto b_value2 = static_cast<uint32_t *>(b[1].get());
*b_value1 = *a_value1;
*b_value2 = *a_value2;
};
auto translation_cb_12 = [](const std::vector<MessageBuffer> &a, std::vector<MessageBuffer> &b) {
assert(a.size() == 1);
assert(b.size() == 2);
auto a_value1 = static_cast<const uint32_t *>(a[0].get());
auto b_value1 = static_cast<uint32_t *>(b[0].get());
auto b_value2 = static_cast<uint32_t *>(b[1].get());
*b_value1 = *a_value1 & 0x0000ffffu;
*b_value2 = *a_value1 & 0xffff0000u;
};
auto translation_cb_11 = [](const std::vector<MessageBuffer> &a, std::vector<MessageBuffer> &b) {
assert(a.size() == 1);
assert(b.size() == 1);
auto a_value1 = static_cast<const uint32_t *>(a[0].get());
auto b_value1 = static_cast<uint32_t *>(b[0].get());
*b_value1 = *a_value1 + 1;
};
graph.addTranslation(translation_cb_22, {ids[0], ids[1]}, {ids[2], ids[5]});
graph.addTranslation(translation_cb_22, {ids[2], ids[5]}, {ids[0], ids[1]});
graph.addTranslation(translation_cb_11, {ids[2]}, {ids[3]});
graph.addTranslation(translation_cb_11, {ids[3]}, {ids[2]});
graph.addTranslation(translation_cb_11, {ids[3]}, {ids[4]});
graph.addTranslation(translation_cb_11, {ids[4]}, {ids[3]});
graph.addTranslation(translation_cb_21, {ids[4], ids[5]}, {ids[6]});
graph.addTranslation(translation_cb_12, {ids[6]}, {ids[4], ids[5]});
auto translate_node = [&](const MessageIdentifier& id) {
graph.translate(graph.findNode(id).value(),
[](auto&& node) {
assert(!node->data().translated);
assert(!node->data().translated);
node->data().translated = true;
});
};
auto reset_translated = [&]() {
for (const auto& id : ids) {
graph.findNode(id).value()->data().translated = false;
}
};
// Updating nodes 1+2 should update node 7
*buffers[0] = 0xa00000b0;
*buffers[1] = 0x0a00000b;
translate_node(ids[1]);
EXPECT_EQ(graph.findNode(ids[2]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[3]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[4]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[5]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[6]).value()->data().translated, false);
translate_node(ids[0]);
EXPECT_EQ(graph.findNode(ids[2]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[3]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[4]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[5]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[6]).value()->data().translated, true);
EXPECT_EQ(*buffers[2], 0xa00000b0);
EXPECT_EQ(*buffers[3], 0xa00000b0 + 1);
EXPECT_EQ(*buffers[4], 0xa00000b0 + 2);
EXPECT_EQ(*buffers[5], 0x0a00000b);
EXPECT_EQ(*buffers[6], ((0xa00000b0 + 2) | 0x0a00000b));
reset_translated();
// Now updating nodes 4+6 should update the rest
*buffers[3] = 0xa00000b0;
*buffers[5] = 0x0f00000f;
translate_node(ids[3]);
EXPECT_EQ(graph.findNode(ids[0]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[1]).value()->data().translated, false);
EXPECT_EQ(graph.findNode(ids[6]).value()->data().translated, false);
translate_node(ids[5]);
EXPECT_EQ(graph.findNode(ids[0]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[1]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[2]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[4]).value()->data().translated, true);
EXPECT_EQ(graph.findNode(ids[6]).value()->data().translated, true);
EXPECT_EQ(*buffers[0], 0xa00000b0 + 1);
EXPECT_EQ(*buffers[1], 0x0f00000f);
EXPECT_EQ(*buffers[2], 0xa00000b0 + 1);
EXPECT_EQ(*buffers[4], 0xa00000b0 + 1);
EXPECT_EQ(*buffers[6], (0xa00000b0 + 1) | 0x0f00000f);
}
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