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Port RingBuffer Test to GTests
This commit is contained in:
kamilritz
committed by
Mathieu Bresciani
Mathieu Bresciani
parent
cac5f3fd6d
commit
71be26efc6
@@ -36,11 +36,9 @@ if(BUILD_TESTING AND ECL_STANDALONE)
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add_definitions(-UNDEBUG) # keep assert
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add_subdirectory(base)
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if(EKF_PYTHON_TESTS)
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add_subdirectory(pytest)
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endif()
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add_subdirectory(ringbuffer)
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endif()
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@@ -1,123 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name ECL nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ringbuffer.cpp
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* Test routines for the EKF ringbuffer
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*
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* @author Roman Bast <bapstroman@gmail.com>
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*
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*/
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#include <stdint.h>
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#include <cassert>
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#include <EKF/RingBuffer.h>
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struct sample {
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uint64_t time_us;
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float data[3];
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};
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int main(int argc, char *argv[])
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{
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(void)argc; // unused
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(void)argv; // unused
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sample x;
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x.time_us = 1000000;
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x.data[0] = x.data[1] = x.data[2] = 1.5f;
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sample y;
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y.time_us = 2000000;
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y.data[0] = y.data[1] = y.data[2] = 3.0f;
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sample z;
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z.time_us = 3000000;
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z.data[0] = z.data[1] = z.data[2] = 4.0f;
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// Test1: false buffer allocation
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bool initialised = false;
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RingBuffer<sample> buffer;
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//initialised = buffer.allocate(-1);
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//assert(initialised == false);
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//initialised = buffer.allocate(0);
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//assert(initialised == false);
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// Test2: good initialisation
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initialised = buffer.allocate(3);
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assert(initialised == true);
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// Test3: pushing data into ringbuffer
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buffer.push(x);
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assert(buffer.get_newest().time_us == x.time_us);
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//assert(buffer.get_oldest().time_us == 0);
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buffer.push(y);
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buffer.push(z);
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assert(buffer.get_newest().time_us == z.time_us);
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assert(buffer.get_oldest().time_us == x.time_us);
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// Test3: Retreiving data from the buffer
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sample pop = {};
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// this should return false, because there is no data older than t = 0
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assert(buffer.pop_first_older_than(0, &pop) == false);
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assert(buffer.pop_first_older_than(x.time_us + 1, &pop) == true);
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assert(pop.time_us == x.time_us);
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assert(buffer.pop_first_older_than(y.time_us + 100, &pop) == true);
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assert(pop.time_us == y.time_us);
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assert(buffer.pop_first_older_than(z.time_us + 100, &pop) == true);
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assert(pop.time_us == z.time_us);
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// Test 4: Bigger buffer, redo Test3
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buffer.allocate(10);
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buffer.push(x);
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assert(buffer.get_newest().time_us == x.time_us);
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//assert(buffer.get_oldest().time_us == 0);
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buffer.push(y);
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buffer.push(z);
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assert(buffer.get_newest().time_us == z.time_us);
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// this should return false, because the diff to 0 is too large
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// buffer will not accept measurement will is older than 0.5 seconds
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assert(buffer.pop_first_older_than(600000, &pop) == false);
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assert(buffer.pop_first_older_than(x.time_us + 1, &pop) == true);
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assert(pop.time_us == x.time_us);
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assert(buffer.pop_first_older_than(y.time_us + 100, &pop) == true);
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assert(pop.time_us == y.time_us);
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assert(buffer.pop_first_older_than(z.time_us + 100, &pop) == true);
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assert(pop.time_us == z.time_us);
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return 0;
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}
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+3
-2
@@ -34,8 +34,9 @@
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include(gtest.cmake)
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set(SRCS
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main.cpp
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test_EKF_basics.cpp
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main.cpp
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test_EKF_basics.cpp
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test_EKF_ringbuffer.cpp
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)
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add_executable(ECL_GTESTS ${SRCS})
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@@ -0,0 +1,160 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <cmath>
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#include "EKF/ekf.h"
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struct sample {
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uint64_t time_us;
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float data[3];
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};
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class EkfRingBufferTest : public ::testing::Test {
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public:
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sample _x, _y, _z;
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RingBuffer<sample>* _buffer;
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void SetUp() override
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{
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_buffer = new RingBuffer<sample>();
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_x.time_us = 1000000;
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_x.data[0] = _x.data[1] = _x.data[2] = 1.5f;
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_y.time_us = 2000000;
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_y.data[0] = _y.data[1] = _y.data[2] = 3.0f;
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_z.time_us = 3000000;
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_z.data[0] = _z.data[1] = _z.data[2] = 4.0f;
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}
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void TearDown() override
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{
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_buffer->unallocate();
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delete _buffer;
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}
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};
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TEST_F(EkfRingBufferTest, goodInitialisation)
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{
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// WHEN: buffer was allocated
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// THEN: allocation should have succeed
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ASSERT_EQ(true, _buffer->allocate(3));
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}
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TEST_F(EkfRingBufferTest, badInitialisation)
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{
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// WHEN: buffer allocation input is bad
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// THEN: allocation should fail
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// TODO: Change buffer implementation to pass this test
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// ASSERT_EQ(false, _buffer->allocate(-1));
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// ASSERT_EQ(false, _buffer->allocate(0));
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}
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TEST_F(EkfRingBufferTest, orderOfSamples)
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{
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ASSERT_EQ(true, _buffer->allocate(3));
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// GIVEN: allocated buffer
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// WHEN: adding multiple samples
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// THEN: they should be added in order
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_buffer->push(_x);
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EXPECT_EQ(_x.time_us, _buffer->get_newest().time_us);
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EXPECT_EQ(_x.time_us, _buffer->get_oldest().time_us);
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_buffer->push(_z);
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_buffer->push(_y);
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EXPECT_EQ(_x.time_us, _buffer->get_oldest().time_us);
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EXPECT_EQ(_y.time_us, _buffer->get_newest().time_us);
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}
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TEST_F(EkfRingBufferTest, popSample)
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{
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ASSERT_EQ(true, _buffer->allocate(3));
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_buffer->push(_x);
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_buffer->push(_y);
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_buffer->push(_z);
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// GIVEN: allocated and filled buffer
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sample pop = {};
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// WHEN: we want to retrieve a sample that is older than any in the buffer
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// THEN: we should not get any sample
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EXPECT_EQ(false, _buffer->pop_first_older_than(0, &pop));
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// WHEN: when calling "pop_first_older_than"
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// THEN: we should get the first sample from the head that is older
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EXPECT_EQ(true, _buffer->pop_first_older_than(_x.time_us+1, &pop));
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EXPECT_EQ(_x.time_us, pop.time_us);
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EXPECT_EQ(true, _buffer->pop_first_older_than(_y.time_us+10, &pop));
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EXPECT_EQ(_y.time_us, pop.time_us);
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EXPECT_EQ(true, _buffer->pop_first_older_than(_z.time_us+100, &pop));
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EXPECT_EQ(_z.time_us, pop.time_us);
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// TODO: When changing the order of popping sample it does not behave as expected, fix this
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}
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TEST_F(EkfRingBufferTest, askingForTooNewSample)
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{
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ASSERT_EQ(true, _buffer->allocate(3));
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_buffer->push(_x);
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_buffer->push(_y);
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_buffer->push(_z);
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sample pop = {};
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// WHEN: all buffered samples are older by 0.1s than your query timestamp
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// THEN: should get no sample returned
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EXPECT_EQ(true, _buffer->pop_first_older_than(_z.time_us+99000, &pop));
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EXPECT_EQ(false, _buffer->pop_first_older_than(_y.time_us+100000, &pop));
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}
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TEST_F(EkfRingBufferTest, reallocateBuffer)
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{
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ASSERT_EQ(true, _buffer->allocate(5));
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_buffer->push(_x);
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_buffer->push(_y);
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_buffer->push(_y);
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_buffer->push(_y);
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_buffer->push(_z);
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// GIVEN: allocated and filled buffer
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// WHEN: do another allocate call
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_buffer->allocate(3);
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// THEN: its length should update
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EXPECT_EQ(3,_buffer->get_length());
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}
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