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Port RingBuffer Test to GTests

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This commit is contained in:
kamilritz
2019-10-28 11:04:38 +01:00
committed by Mathieu Bresciani
parent cac5f3fd6d
commit 71be26efc6
4 changed files with 164 additions and 128 deletions
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EKF/tests/CMakeLists.txt
+1 -3
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@@ -36,11 +36,9 @@ if(BUILD_TESTING AND ECL_STANDALONE)
add_definitions(-UNDEBUG) # keep assert add_definitions(-UNDEBUG) # keep assert
add_subdirectory(base) add_subdirectory(base)
if(EKF_PYTHON_TESTS) if(EKF_PYTHON_TESTS)
add_subdirectory(pytest) add_subdirectory(pytest)
endif() endif()
add_subdirectory(ringbuffer)
endif() endif()
EKF/tests/ringbuffer/ringbuffer.cpp
-123
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@@ -1,123 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name ECL nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ringbuffer.cpp
* Test routines for the EKF ringbuffer
*
* @author Roman Bast <bapstroman@gmail.com>
*
*/
#include <stdint.h>
#include <cassert>
#include <EKF/RingBuffer.h>
struct sample {
uint64_t time_us;
float data[3];
};
int main(int argc, char *argv[])
{
(void)argc; // unused
(void)argv; // unused
sample x;
x.time_us = 1000000;
x.data[0] = x.data[1] = x.data[2] = 1.5f;
sample y;
y.time_us = 2000000;
y.data[0] = y.data[1] = y.data[2] = 3.0f;
sample z;
z.time_us = 3000000;
z.data[0] = z.data[1] = z.data[2] = 4.0f;
// Test1: false buffer allocation
bool initialised = false;
RingBuffer<sample> buffer;
//initialised = buffer.allocate(-1);
//assert(initialised == false);
//initialised = buffer.allocate(0);
//assert(initialised == false);
// Test2: good initialisation
initialised = buffer.allocate(3);
assert(initialised == true);
// Test3: pushing data into ringbuffer
buffer.push(x);
assert(buffer.get_newest().time_us == x.time_us);
//assert(buffer.get_oldest().time_us == 0);
buffer.push(y);
buffer.push(z);
assert(buffer.get_newest().time_us == z.time_us);
assert(buffer.get_oldest().time_us == x.time_us);
// Test3: Retreiving data from the buffer
sample pop = {};
// this should return false, because there is no data older than t = 0
assert(buffer.pop_first_older_than(0, &pop) == false);
assert(buffer.pop_first_older_than(x.time_us + 1, &pop) == true);
assert(pop.time_us == x.time_us);
assert(buffer.pop_first_older_than(y.time_us + 100, &pop) == true);
assert(pop.time_us == y.time_us);
assert(buffer.pop_first_older_than(z.time_us + 100, &pop) == true);
assert(pop.time_us == z.time_us);
// Test 4: Bigger buffer, redo Test3
buffer.allocate(10);
buffer.push(x);
assert(buffer.get_newest().time_us == x.time_us);
//assert(buffer.get_oldest().time_us == 0);
buffer.push(y);
buffer.push(z);
assert(buffer.get_newest().time_us == z.time_us);
// this should return false, because the diff to 0 is too large
// buffer will not accept measurement will is older than 0.5 seconds
assert(buffer.pop_first_older_than(600000, &pop) == false);
assert(buffer.pop_first_older_than(x.time_us + 1, &pop) == true);
assert(pop.time_us == x.time_us);
assert(buffer.pop_first_older_than(y.time_us + 100, &pop) == true);
assert(pop.time_us == y.time_us);
assert(buffer.pop_first_older_than(z.time_us + 100, &pop) == true);
assert(pop.time_us == z.time_us);
return 0;
}
test/CMakeLists.txt
+3 -2
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@@ -34,8 +34,9 @@
include(gtest.cmake) include(gtest.cmake)
set(SRCS set(SRCS
main.cpp main.cpp
test_EKF_basics.cpp test_EKF_basics.cpp
test_EKF_ringbuffer.cpp
) )
add_executable(ECL_GTESTS ${SRCS}) add_executable(ECL_GTESTS ${SRCS})
test/test_EKF_ringbuffer.cpp
+160
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@@ -0,0 +1,160 @@
/****************************************************************************
*
* Copyright (c) 2019 ECL Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <gtest/gtest.h>
#include <cmath>
#include "EKF/ekf.h"
struct sample {
uint64_t time_us;
float data[3];
};
class EkfRingBufferTest : public ::testing::Test {
public:
sample _x, _y, _z;
RingBuffer<sample>* _buffer;
void SetUp() override
{
_buffer = new RingBuffer<sample>();
_x.time_us = 1000000;
_x.data[0] = _x.data[1] = _x.data[2] = 1.5f;
_y.time_us = 2000000;
_y.data[0] = _y.data[1] = _y.data[2] = 3.0f;
_z.time_us = 3000000;
_z.data[0] = _z.data[1] = _z.data[2] = 4.0f;
}
void TearDown() override
{
_buffer->unallocate();
delete _buffer;
}
};
TEST_F(EkfRingBufferTest, goodInitialisation)
{
// WHEN: buffer was allocated
// THEN: allocation should have succeed
ASSERT_EQ(true, _buffer->allocate(3));
}
TEST_F(EkfRingBufferTest, badInitialisation)
{
// WHEN: buffer allocation input is bad
// THEN: allocation should fail
// TODO: Change buffer implementation to pass this test
// ASSERT_EQ(false, _buffer->allocate(-1));
// ASSERT_EQ(false, _buffer->allocate(0));
}
TEST_F(EkfRingBufferTest, orderOfSamples)
{
ASSERT_EQ(true, _buffer->allocate(3));
// GIVEN: allocated buffer
// WHEN: adding multiple samples
// THEN: they should be added in order
_buffer->push(_x);
EXPECT_EQ(_x.time_us, _buffer->get_newest().time_us);
EXPECT_EQ(_x.time_us, _buffer->get_oldest().time_us);
_buffer->push(_z);
_buffer->push(_y);
EXPECT_EQ(_x.time_us, _buffer->get_oldest().time_us);
EXPECT_EQ(_y.time_us, _buffer->get_newest().time_us);
}
TEST_F(EkfRingBufferTest, popSample)
{
ASSERT_EQ(true, _buffer->allocate(3));
_buffer->push(_x);
_buffer->push(_y);
_buffer->push(_z);
// GIVEN: allocated and filled buffer
sample pop = {};
// WHEN: we want to retrieve a sample that is older than any in the buffer
// THEN: we should not get any sample
EXPECT_EQ(false, _buffer->pop_first_older_than(0, &pop));
// WHEN: when calling "pop_first_older_than"
// THEN: we should get the first sample from the head that is older
EXPECT_EQ(true, _buffer->pop_first_older_than(_x.time_us+1, &pop));
EXPECT_EQ(_x.time_us, pop.time_us);
EXPECT_EQ(true, _buffer->pop_first_older_than(_y.time_us+10, &pop));
EXPECT_EQ(_y.time_us, pop.time_us);
EXPECT_EQ(true, _buffer->pop_first_older_than(_z.time_us+100, &pop));
EXPECT_EQ(_z.time_us, pop.time_us);
// TODO: When changing the order of popping sample it does not behave as expected, fix this
}
TEST_F(EkfRingBufferTest, askingForTooNewSample)
{
ASSERT_EQ(true, _buffer->allocate(3));
_buffer->push(_x);
_buffer->push(_y);
_buffer->push(_z);
sample pop = {};
// WHEN: all buffered samples are older by 0.1s than your query timestamp
// THEN: should get no sample returned
EXPECT_EQ(true, _buffer->pop_first_older_than(_z.time_us+99000, &pop));
EXPECT_EQ(false, _buffer->pop_first_older_than(_y.time_us+100000, &pop));
}
TEST_F(EkfRingBufferTest, reallocateBuffer)
{
ASSERT_EQ(true, _buffer->allocate(5));
_buffer->push(_x);
_buffer->push(_y);
_buffer->push(_y);
_buffer->push(_y);
_buffer->push(_z);
// GIVEN: allocated and filled buffer
// WHEN: do another allocate call
_buffer->allocate(3);
// THEN: its length should update
EXPECT_EQ(3,_buffer->get_length());
}