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AP_NavEKF: add tests for ekf_imu_buffer

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Peter Barker 2024-04-05 13:02:48 +11:00 committed by Peter Barker
parent 42c4329d4c
commit 8452f5f0cd
1 changed files with 57 additions and 0 deletions
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57
libraries/AP_NavEKF/tests/test_ring_buffer.cpp
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@ -7,6 +7,9 @@
#include <AP_NavEKF/EKF_Buffer.h>
#include <stdlib.h>
#include <AP_HAL/AP_HAL.h>
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
TEST(EKF_Buffer, EKF_Buffer)
@ -119,6 +122,60 @@ TEST(EKF_Buffer, EKF_Buffer)
EXPECT_FALSE(buf.recall(d2, 103));
}
TEST(ekf_imu_buffer, one_element_case)
{
// test degenerate 1-element case:
struct element {
uint8_t value;
};
ekf_imu_buffer *b = new ekf_imu_buffer(sizeof(element));
b->init(1); // 1 element
EXPECT_EQ(b->is_filled(), false);
EXPECT_EQ(b->get_oldest_index(), b->get_youngest_index());
const element e { 34 };
b->push_youngest_element((void*)&e);
EXPECT_EQ(b->is_filled(), true);
EXPECT_EQ(b->get_oldest_index(), b->get_youngest_index());
element returned_element {};
b->get_oldest_element((void*)&returned_element);
EXPECT_EQ(e.value, returned_element.value);
element *another_returned_element = (element*)b->get(0);
EXPECT_EQ(e.value, another_returned_element->value);
// we don't do bounds checking, so get here returns non-nullptr:
// another_returned_element = (element*)b.get(17);
// EXPECT_EQ(another_returned_element, nullptr);
b->reset();
EXPECT_EQ(b->get_oldest_index(), b->get_youngest_index());
// we don't do bounds checking, so get here returns non-nullptr:
// another_returned_element = (element*)b.get(0);
// EXPECT_EQ(another_returned_element, nullptr);
}
TEST(ekf_imu_buffer, is_filled)
{
// https://github.com/ArduPilot/ardupilot/issues/25316
struct element {
uint8_t value;
};
ekf_imu_buffer *b = new ekf_imu_buffer(sizeof(element));
b->init(4); // 4 elements
const element e { 34 };
EXPECT_EQ(b->is_filled(), false);
b->push_youngest_element((void*)&e);
EXPECT_EQ(b->is_filled(), false);
b->push_youngest_element((void*)&e);
EXPECT_EQ(b->is_filled(), false);
b->push_youngest_element((void*)&e);
EXPECT_EQ(b->is_filled(), false);
b->push_youngest_element((void*)&e);
EXPECT_EQ(b->is_filled(), true);
}
AP_GTEST_MAIN()
#endif // HAL_SITL or HAL_LINUX