test_EKF_ringbuffer.cpp

Go to the documentation of this file.

/****************************************************************************
 *
 *   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 <math.h>
#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());

}