containers add IntrusiveQueue and testing

src/systemcmds/tests/test_IntrusiveQueue.cpp

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+/****************************************************************************
+ *
+ *  Copyright (C) 2019 PX4 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 <unit_test.h>
+#include <containers/IntrusiveQueue.hpp>
+#include <float.h>
+#include <math.h>
+
+class testContainer : public IntrusiveQueueNode<testContainer *>
+{
+public:
+	int i{0};
+};
+
+class IntrusiveQueueTest : public UnitTest
+{
+public:
+	virtual bool run_tests();
+
+	bool test_push();
+	bool test_pop();
+	bool test_push_duplicate();
+
+};
+
+bool IntrusiveQueueTest::run_tests()
+{
+	ut_run_test(test_push);
+	ut_run_test(test_pop);
+	ut_run_test(test_push_duplicate);
+
+	return (_tests_failed == 0);
+}
+
+bool IntrusiveQueueTest::test_push()
+{
+	IntrusiveQueue<testContainer *> q1;
+
+	// size should be 0 initially
+	ut_compare("size initially 0", q1.size(), 0);
+	ut_assert_true(q1.empty());
+
+	// insert 100
+	for (int i = 0; i < 100; i++) {
+		testContainer *t = new testContainer();
+		t->i = i;
+
+		ut_compare("size increasing with i", q1.size(), i);
+		q1.push(t);
+		ut_compare("size increasing with i", q1.size(), i + 1);
+
+		ut_assert_true(!q1.empty());
+	}
+
+	// verify full size (100)
+	ut_compare("size 100", q1.size(), 100);
+
+	// pop all elements
+	for (int i = 0; i < 100; i++) {
+		auto node = q1.front();
+		q1.pop();
+		delete node;
+	}
+
+	// verify list has been cleared
+	ut_compare("size 0", q1.size(), 0);
+	ut_assert_true(q1.empty());
+
+	return true;
+}
+
+bool IntrusiveQueueTest::test_pop()
+{
+	IntrusiveQueue<testContainer *> q1;
+
+	// size should be 0 initially
+	ut_compare("size initially 0", q1.size(), 0);
+	ut_assert_true(q1.empty());
+
+	// insert 100
+	for (int i = 0; i < 100; i++) {
+		testContainer *t = new testContainer();
+		t->i = i;
+		q1.push(t);
+	}
+
+	// verify full size (100)
+	ut_assert_true(q1.size() == 100);
+
+	for (int i = 0; i < 100; i++) {
+		auto node = q1.front();
+		ut_compare("stored i", i, node->i);
+
+		ut_compare("size check", q1.size(), 100 - i);
+		q1.pop();
+		ut_compare("size check", q1.size(), 100 - i - 1);
+
+		delete node;
+
+		ut_compare("size check", q1.size(), 100 - i - 1);
+	}
+
+	// verify list has been cleared
+	ut_assert_true(q1.empty());
+	ut_compare("size check", q1.size(), 0);
+
+	// pop an empty queue
+	auto T = q1.pop();
+	ut_assert_true(T == nullptr);
+	ut_assert_true(q1.empty());
+	ut_compare("size check", q1.size(), 0);
+
+	return true;
+}
+
+bool IntrusiveQueueTest::test_push_duplicate()
+{
+	IntrusiveQueue<testContainer *> q1;
+
+	// size should be 0 initially
+	ut_compare("size initially 0", q1.size(), 0);
+	ut_assert_true(q1.empty());
+
+	// insert 100
+	for (int i = 0; i < 100; i++) {
+		testContainer *t = new testContainer();
+		t->i = i;
+
+		ut_compare("size increasing with i", q1.size(), i);
+		q1.push(t);
+		ut_compare("size increasing with i", q1.size(), i + 1);
+
+		ut_assert_true(!q1.empty());
+	}
+
+	// verify full size (100)
+	ut_compare("size 100", q1.size(), 100);
+
+
+	// attempt to insert front again
+	const auto q1_front = q1.front();
+	const auto q1_front_i = q1_front->i; // copy i value
+
+	const auto q1_back = q1.back();
+	const auto q1_back_i = q1_back->i; // copy i value
+
+	// push front and back aagain
+	q1.push(q1_front);
+	q1.push(q1_back);
+
+	// verify no change
+	ut_compare("size 100", q1.size(), 100);
+	ut_compare("q front not reinserted", q1.front()->i, q1_front->i);
+	ut_compare("q back not reinserted", q1.back()->i, q1_back->i);
+
+
+	// pop the head
+	const auto q1_head = q1.pop();
+
+	// verfify size should now be 99
+	ut_compare("size 99", q1.size(), 99);
+
+	// push back on
+	q1.push(q1_head);
+
+	// verify size now 100 again
+	ut_compare("size 100", q1.size(), 100);
+
+
+	// pop all elements
+	for (int i = 0; i < 100; i++) {
+		auto node = q1.front();
+		q1.pop();
+		delete node;
+	}
+
+	// verify list has been cleared
+	ut_compare("size 0", q1.size(), 0);
+	ut_assert_true(q1.empty());
+
+	return true;
+}
+
+ut_declare_test_c(test_IntrusiveQueue, IntrusiveQueueTest)