test: add tests

tests/CMakeLists.txt

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+cmake_minimum_required( VERSION 3.10 )
+project(dsr_tests
+        VERSION 2024.11.12
+        DESCRIPTION "DSR Tests"
+        LANGUAGES CXX)
+
+
+Include(FetchContent)
+
+FetchContent_Declare(
+  Catch2
+  GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+  GIT_TAG        v3.7.1
+)
+
+FetchContent_MakeAvailable(Catch2)
+
+#include(~/software/vcpkg/scripts/buildsystems/vcpkg.cmake)
+
+
+find_package(Boost REQUIRED)
+find_package(Qt6 COMPONENTS Core REQUIRED)
+find_package(Eigen3 3.3 REQUIRED NO_MODULE)
+
+
+
+add_executable(tests test.cpp 
+                     graph/edge_operations.cpp
+                     graph/node_operations.cpp
+                     graph/graph_operations.cpp
+                     graph/attribute_operations.cpp
+                     graph/convenience_operations.cpp
+                     crdt/crdt_operations.cpp
+                     synchronization/graph_synchronization.cpp
+                     synchronization/type_translation.cpp
+                     synchronization/graph_signals.cpp
+                     utils.h)
+
+
+set_target_properties(tests PROPERTIES
+CMAKE_CXX_STANDARD 23
+CXX_STANDARD_REQUIRED ON
+CXX_EXTENSIONS ON)
+
+target_compile_options(tests PUBLIC -g -std=c++23)
+
+
+target_link_libraries(tests PRIVATE 
+                            Catch2::Catch2WithMain
+                            Robocomp::dsr_api
+                            Robocomp::dsr_core
+                            Boost::boost
+                            Qt6::Core
+                            Eigen3::Eigen
+                            fastdds
+                            fastcdr)
+

tests/crdt/crdt_operations.cpp

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+//
+// Created by jc on 5/11/24.
+//
+
+#include "../utils.h"
+#include "catch2/catch_test_macros.hpp"
+
+#include <cstdint>
+#include <dsr/core/crdt/delta_crdt.h>
+
+
+struct dt{
+
+    std::string m_str;
+
+    dt(const std::string &str) : m_str(str) {} 
+    dt(std::string &&str) : m_str(str) {}
+    dt(const char *str) : m_str(str) {}
+
+    auto agent_id() -> uint32_t { return m_str.size();}
+    auto operator<=>(const dt&) const = default;
+
+};
+
+TEST_CASE("CRDT operations and state", "[CRDT][CONSISTENCY]") {
+
+  mvreg<dt> o1, o2, o3;
+  mvreg<dt> delta, delta2, delta3, delta4;
+
+  delta = o1.write("hello");
+  delta2 = delta3 = delta;
+
+  o2.join(std::move(delta));
+  o3.join(std::move(delta2));
+  //o1 and o2 and o3 are in the same state.
+  REQUIRE(o1.read_reg().m_str == "hello");
+  REQUIRE(o2.read_reg().m_str == "hello");
+  REQUIRE(o3.read_reg().m_str == "hello");
+
+
+  //check out of order joins. 
+  delta = o2.write("world");
+  REQUIRE(o2.read_reg().m_str == "world");
+  delta = o2.write("hello world");
+  delta3 = delta;
+  REQUIRE(o2.read_reg().m_str == "hello world");
+
+  delta2 = o3.write("I'm o3");
+  REQUIRE(o3.read_reg().m_str == "I'm o3");
+
+  o1.join(std::move(delta));
+  REQUIRE(o1.read_reg().m_str == "hello world");
+  o1.join(std::move(delta2));
+  //o2 is newer than o3 operation (the implementation uses a counter).
+  REQUIRE(o1.read_reg().m_str == "hello world");
+  o3.join(std::move(delta3));
+  REQUIRE(o3.read_reg().m_str == "hello world");
+
+  //check that in can solve conflicts (same counter) automatically using the smaller agent_id() method of the datatype. 
+  delta  = o2.write("~~~~~~~~~~~~");
+  delta2 = o3.write("I win");
+  delta3 = delta2;
+  delta4 = delta;
+  o1.join(std::move(delta));
+  REQUIRE(o1.read_reg().m_str == "~~~~~~~~~~~~");
+  o1.join(std::move(delta2));
+  o2.join(std::move(delta3));  
+  o3.join(std::move(delta4));
+  REQUIRE(o1.read_reg().m_str == "I win");
+  REQUIRE(o2.read_reg().m_str == "I win");
+  REQUIRE(o3.read_reg().m_str == "I win");
+
+}