px4_autopilot/EKF/tests/ringbuffer/ringbuffer.cpp

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/**
 * @file ringbuffer.cpp
 * Test routines for the EKF ringbuffer
 *
 * @author Roman Bast <bapstroman@gmail.com>
 *
 */

#include <stdint.h>
#include <cassert>
#include "../../RingBuffer.h"

extern "C" __EXPORT int ringbuffer_main(int argc, char *argv[]);

struct sample {
	uint64_t time_us;
	float data[3];
};

int ringbuffer_main(int argc, char *argv[])
{
	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;
}