#include <AP_gtest.h> /* tests for AP_Common/sorting.cpp */ #include <AP_Common/AP_Common.h> #include <AP_Common/sorting.h> #include <stdlib.h> #if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX typedef int (*compare_fn_t)(const void*, const void*); static int comp16(const uint16_t *v1, const uint16_t *v2) { return int32_t(*v1) - int32_t(*v2); } static void check_equal(const uint16_t *a1, const uint16_t *a2, uint16_t n) { for (uint8_t j=0; j<n; j++) { EXPECT_EQ(a1[j], a2[j]); } } TEST(Sorting, sort) { for (uint16_t i=0; i<10000; i++) { const uint8_t maxval = 100; uint16_t n = 1 + (unsigned(random()) % 100); uint16_t a1[n]; uint16_t a2[n]; for (uint8_t j=0; j<n; j++) { a1[j] = a2[j] = unsigned(random()) % maxval; } insertion_sort_uint16(a1, n); qsort(a2, n, sizeof(uint16_t), (compare_fn_t)comp16); check_equal(a1, a2, n); } } // a dumb version of remove_duplicates_uint16() for testing static uint16_t dumb_unique(uint16_t *data, uint16_t n) { uint16_t a2[n]; uint16_t ret = 0; a2[0] = data[0]; for (uint16_t i=1; i<n; i++) { if (data[i] != a2[ret]) { a2[++ret] = data[i]; } } ret++; memcpy(data, a2, ret*sizeof(uint16_t)); return ret; } TEST(Sorting, unique) { for (uint16_t i=0; i<10000; i++) { const uint8_t maxval = 30; uint16_t n = 1 + (unsigned(random()) % 100); uint16_t a1[n]; uint16_t a2[n]; for (uint8_t j=0; j<n; j++) { a1[j] = a2[j] = unsigned(random()) % maxval; } insertion_sort_uint16(a1, n); insertion_sort_uint16(a2, n); uint16_t n1 = remove_duplicates_uint16(a1, n); uint16_t n2 = dumb_unique(a2, n); EXPECT_EQ(n1, n2); check_equal(a1, a2, n1); } } // a dumb version of bisect_search_uint16() static bool dumb_search(uint16_t *data, uint16_t n, uint16_t value) { for (uint16_t i=0; i<n; i++) { if (data[i] == value) { return true; } } return false; } TEST(Sorting, bisect) { for (uint16_t i=0; i<1000; i++) { const uint8_t maxval = 100; uint16_t n = 1 + (unsigned(random()) % 100); uint16_t a1[n]; for (uint8_t j=0; j<n; j++) { a1[j] = unsigned(random()) % maxval; } insertion_sort_uint16(a1, n); for (uint8_t j=0; j<10; j++) { uint16_t v = unsigned(random()) % maxval; bool b1 = dumb_search(a1, n, v); bool b2 = bisect_search_uint16(a1, n, v); EXPECT_EQ(b1, b2); } } } // a dumb version of bisect_search_uint16() static uint16_t dumb_remove_list(uint16_t *data, uint16_t n, const uint16_t *rem, uint16_t n2) { uint16_t a[n]; uint16_t ret = 0; for (uint16_t i=0; i<n; i++) { bool found = false; for (uint16_t j=0; j<n2; j++) { if (rem[j] == data[i]) { found = true; break; } } if (!found) { a[ret] = data[i]; ret++; } } memcpy(data, a, ret*sizeof(uint16_t)); return ret; } TEST(Sorting, remove) { for (uint16_t i=0; i<1000; i++) { const uint8_t maxval = 100; uint16_t n = 1 + (unsigned(random()) % 100); uint16_t n2 = 1 + (unsigned(random()) % 100); uint16_t a1[n]; uint16_t a2[n]; uint16_t a3[n2]; for (uint8_t j=0; j<n; j++) { a2[j] = a1[j] = unsigned(random()) % maxval; } for (uint8_t j=0; j<n2; j++) { a3[j] = unsigned(random()) % maxval; } insertion_sort_uint16(a1, n); insertion_sort_uint16(a2, n); insertion_sort_uint16(a3, n2); uint16_t r1 = remove_list_uint16(a1, n, a3, n2); uint16_t r2 = dumb_remove_list(a2, n, a3, n2); EXPECT_EQ(r1, r2); for (uint8_t j=0; j<r1; j++) { EXPECT_EQ(a1[j], a2[j]); } } } AP_GTEST_MAIN() #endif // HAL_SITL or HAL_LINUX