Port RingBuffer Test to GTests

EKF/tests/CMakeLists.txt

@@ -36,11 +36,9 @@ if(BUILD_TESTING AND ECL_STANDALONE)
 	add_definitions(-UNDEBUG) # keep assert
 
 	add_subdirectory(base)
-	
+
 	if(EKF_PYTHON_TESTS)
 		add_subdirectory(pytest)
 	endif()
-
-	add_subdirectory(ringbuffer)
 
 endif()

test/CMakeLists.txt

@@ -34,8 +34,9 @@
 include(gtest.cmake)
 
 set(SRCS
-   main.cpp
-   test_EKF_basics.cpp
+	main.cpp
+	test_EKF_basics.cpp
+	test_EKF_ringbuffer.cpp
    )
 add_executable(ECL_GTESTS ${SRCS})
 

test/test_EKF_ringbuffer.cpp

@@ -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());
+
+}