forked from Archive/PX4-Autopilot
Add DataValidatorGroup tests, add more DataValidator tests (#592)
This commit is contained in:
Todd Stellanova
Daniel Agar
parent
a892ececf8
commit
6e77b197c7
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@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2015-2018 ECL Development Team. All rights reserved.
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# Copyright (c) 2019 ECL Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@ -31,9 +31,16 @@
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#
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############################################################################
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add_executable(ecl_tests_data_validator test_data_validator.cpp)
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add_executable(ecl_tests_data_validator test_data_validator.cpp tests_common.cpp)
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target_link_libraries(ecl_tests_data_validator ecl_validation)
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add_test(NAME ecl_tests_data_validator
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COMMAND ecl_tests_data_validator
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)
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COMMAND ecl_tests_data_validator
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)
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add_executable(ecl_tests_data_validator_group test_data_validator_group.cpp tests_common.cpp)
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target_link_libraries(ecl_tests_data_validator_group ecl_validation)
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add_test(NAME ecl_tests_data_validator_group
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COMMAND ecl_tests_data_validator_group
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)
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@ -39,57 +39,18 @@
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#include <stdint.h>
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#include <cassert>
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//#include <stdio.h>
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#include <stdio.h>
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#include <math.h>
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#include "../data_validator.h"
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#include <validation/data_validator.h>
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#include <validation/tests/tests_common.h>
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//void dump_validator_state(DataValidator* validator)
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//{
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// uint32_t state = validator->state();
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// printf("state: 0x%x no_data: %d stale: %d timeout:%d\n",
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// validator->state(),
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// DataValidator::ERROR_FLAG_NO_DATA & state,
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// DataValidator::ERROR_FLAG_STALE_DATA & state,
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// DataValidator::ERROR_FLAG_TIMEOUT & state
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// );
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// validator->print();
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//}
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/**
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* Insert a series of samples around a mean value
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* @param validator The validator under test
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* @param mean The mean value
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* @param count The number of samples to insert in the validator
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* @param rms_err (out) calculated rms error of the inserted samples
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*/
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void insert_values_around_mean(DataValidator *validator, const float mean, uint32_t count, float *rms_err)
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{
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uint64_t timestamp = 500;
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uint64_t timestamp_incr = 5;
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const uint64_t error_count = 0;
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const int priority = 50;
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const float swing = 1E-2f;
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double sum_dev_squares = 0.0f;
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//insert a series of values that swing around the mean
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for (uint32_t i = 0; i < count; i++) {
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float iter_swing = (0 == (i % 2)) ? swing : -swing;
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float iter_val = mean + iter_swing;
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float iter_dev = iter_val - mean;
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sum_dev_squares += (iter_dev * iter_dev);
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timestamp += timestamp_incr;
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validator->put(timestamp, iter_val, error_count, priority);
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}
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double rms = sqrt(sum_dev_squares / (double)count);
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//note: this should be approximately equal to "swing"
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*rms_err = (float)rms;
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}
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void test_init()
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{
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printf("\n--- test_init ---\n");
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uint64_t fake_timestamp = 666;
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const uint32_t timeout_usec = 2000;//from original private value
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DataValidator *validator = new DataValidator;
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// initially there should be no siblings
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@ -102,6 +63,9 @@ void test_init()
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assert(!validator->used());
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// initially no priority
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assert(0 == validator->priority());
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validator->set_timeout(timeout_usec);
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assert(validator->get_timeout() == timeout_usec);
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DataValidator *sibling_validator = new DataValidator;
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validator->setSibling(sibling_validator);
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@ -112,51 +76,59 @@ void test_init()
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uint32_t state = validator->state();
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assert(DataValidator::ERROR_FLAG_NO_DATA == (DataValidator::ERROR_FLAG_NO_DATA & state));
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//verify that calling print doesn't crash tests
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validator->print();
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float *vibe_offset = validator->vibration_offset();
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assert(0.0f == vibe_offset[0]);
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delete validator; //force delete
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}
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void test_put()
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{
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printf("\n--- test_put ---\n");
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uint64_t timestamp = 500;
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uint64_t timestamp_incr = 5;
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const uint32_t timeout_usec = 2000;//from original private value
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const uint32_t timeout_usec = 2000;//derived from class-private value
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float val = 3.14159f;
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uint64_t error_count = 0;
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int priority = 50;
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//from private value: this is min change needed to avoid stale detection
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//derived from class-private value: this is min change needed to avoid stale detection
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const float sufficient_incr_value = (1.1f * 1E-6f);
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const int equal_value_count = 100; //default is private VALUE_EQUAL_COUNT_DEFAULT
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DataValidator *validator = new DataValidator;
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validator->set_timeout(timeout_usec);
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validator->set_equal_value_threshold(equal_value_count);
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//put a bunch of values that are all different
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for (int i = 0; i < equal_value_count; i++, val += sufficient_incr_value) {
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timestamp += timestamp_incr;
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validator->put(timestamp, val, error_count, priority);
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}
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fill_validator_with_samples(validator, sufficient_incr_value, &val, ×tamp);
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assert(validator->used());
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//verify that the last value we inserted is the current validator value
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float last_val = val - sufficient_incr_value;
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assert(validator->value()[0] == last_val);
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// we've just provided a bunch of valid data: should be fully confident
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float conf = validator->confidence(timestamp);
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// if (1.0f != conf) {
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// printf("conf: %f\n",(double)conf);
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// dump_validator_state(validator);
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// }
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if (1.0f != conf) {
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printf("conf: %f\n", (double)conf);
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dump_validator_state(validator);
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}
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assert(1.0f == conf);
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// should be no errors
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assert(0 == validator->state());
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//now check confidence much beyond the timeout window-- should timeout
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conf = validator->confidence(timestamp + (1.1 * timeout_usec));
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// if (0.0f != conf) {
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// printf("conf: %f\n",(double)conf);
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// dump_validator_state(validator);
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// }
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if (0.0f != conf) {
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printf("conf: %f\n", (double)conf);
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dump_validator_state(validator);
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}
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assert(0.0f == conf);
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assert(DataValidator::ERROR_FLAG_TIMEOUT == (DataValidator::ERROR_FLAG_TIMEOUT & validator->state()));
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delete validator; //force delete
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}
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/**
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@ -164,33 +136,30 @@ void test_put()
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*/
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void test_stale_detector()
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{
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printf("\n--- test_stale_detector ---\n");
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uint64_t timestamp = 500;
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uint64_t timestamp_incr = 5;
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float val = 3.14159f;
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uint64_t error_count = 0;
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int priority = 50;
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const float insufficient_incr_value = (0.99 * 1E-6f);//insufficient to avoid stale detection
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const int equal_value_count = 100; //default is private VALUE_EQUAL_COUNT_DEFAULT
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//derived from class-private value, this is insufficient to avoid stale detection:
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const float insufficient_incr_value = (0.99 * 1E-6f);
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DataValidator *validator = new DataValidator;
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validator->set_equal_value_threshold(equal_value_count);
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//put a bunch of values that are all different
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for (int i = 0; i < equal_value_count; i++, val += insufficient_incr_value) {
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timestamp += timestamp_incr;
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validator->put(timestamp, val, error_count, priority);
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}
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fill_validator_with_samples(validator, insufficient_incr_value, &val, ×tamp);
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// data is stale: should have no confidence
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assert(0.0f == validator->confidence(timestamp));
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// should be a stale error
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uint32_t state = validator->state();
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// if (DataValidator::ERROR_FLAG_STALE_DATA != state) {
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// dump_validator_state(validator);
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// }
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if (DataValidator::ERROR_FLAG_STALE_DATA != state) {
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dump_validator_state(validator);
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}
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assert(DataValidator::ERROR_FLAG_STALE_DATA == (DataValidator::ERROR_FLAG_STALE_DATA & state));
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delete validator; //force delete
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}
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/**
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@ -198,23 +167,134 @@ void test_stale_detector()
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*/
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void test_rms_calculation()
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{
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printf("\n--- test_rms_calculation ---\n");
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const int equal_value_count = 100; //default is private VALUE_EQUAL_COUNT_DEFAULT
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const float mean_value = 3.14159f;
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const uint32_t sample_count = 1000;
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float expected_rms_err = 0.0f;
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uint64_t timestamp = 500;
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DataValidator *validator = new DataValidator;
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validator->set_equal_value_threshold(equal_value_count);
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insert_values_around_mean(validator, mean_value, sample_count, &expected_rms_err);
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insert_values_around_mean(validator, mean_value, sample_count, &expected_rms_err, ×tamp);
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float *rms = validator->rms();
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assert(nullptr != rms);
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float calc_rms_err = rms[0];
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float diff = fabsf(calc_rms_err - expected_rms_err);
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float diff_frac = (diff / expected_rms_err);
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// printf("rms: %f expect: %f diff: %f frac: %f\n", (double)calc_rms_err, (double)expected_rms_err,
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// (double)diff, (double)diff_frac);
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printf("rms: %f expect: %f diff: %f frac: %f\n", (double)calc_rms_err, (double)expected_rms_err,
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(double)diff, (double)diff_frac);
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assert(diff_frac < 0.03f);
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float *vibe_offset = validator->vibration_offset();
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float vibe_diff = fabsf(0.01005f - vibe_offset[0]); //TODO calculate this vibration value
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printf("vibe: %f", (double)vibe_offset[0]);
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assert(vibe_diff < 1E-3f);
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delete validator; //force delete
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}
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/**
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* Verify error tracking performed by DataValidator::put
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*/
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void test_error_tracking()
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{
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printf("\n--- test_error_tracking ---\n");
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uint64_t timestamp = 500;
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uint64_t timestamp_incr = 5;
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const uint32_t timeout_usec = 2000;//from original private value
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float val = 3.14159f;
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uint64_t error_count = 0;
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int expected_error_density = 0;
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int priority = 50;
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//from private value: this is min change needed to avoid stale detection
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const float sufficient_incr_value = (1.1f * 1E-6f);
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//default is private VALUE_EQUAL_COUNT_DEFAULT
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const int equal_value_count = 50000;
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//should be less than equal_value_count: ensure this is less than NORETURN_ERRCOUNT
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const int total_iterations = 1000;
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DataValidator *validator = new DataValidator;
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validator->set_timeout(timeout_usec);
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validator->set_equal_value_threshold(equal_value_count);
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//put a bunch of values that are all different
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for (int i = 0; i < total_iterations; i++, val += sufficient_incr_value) {
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timestamp += timestamp_incr;
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//up to a 50% random error rate appears to pass the error density filter
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if ((((float)rand() / (float)RAND_MAX)) < 0.500f) {
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error_count += 1;
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expected_error_density += 1;
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} else if (expected_error_density > 0) {
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expected_error_density -= 1;
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}
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validator->put(timestamp, val, error_count, priority);
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}
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assert(validator->used());
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//at this point, error_count should be less than NORETURN_ERRCOUNT
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assert(validator->error_count() == error_count);
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// we've just provided a bunch of valid data with some errors:
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// confidence should be reduced by the number of errors
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float conf = validator->confidence(timestamp);
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printf("error_count: %u validator confidence: %f\n", (uint32_t)error_count, (double)conf);
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assert(1.0f != conf); //we should not be fully confident
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assert(0.0f != conf); //neither should we be completely unconfident
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// should be no errors, even if confidence is reduced, since we didn't exceed NORETURN_ERRCOUNT
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assert(0 == validator->state());
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// the error density will reduce the confidence by 1 - (error_density / ERROR_DENSITY_WINDOW)
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// ERROR_DENSITY_WINDOW is currently private, but == 100.0f
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float reduced_conf = 1.0f - ((float)expected_error_density / 100.0f);
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double diff = fabs(reduced_conf - conf);
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if (reduced_conf != conf) {
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printf("conf: %f reduced_conf: %f diff: %f\n",
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(double)conf, (double)reduced_conf, diff);
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dump_validator_state(validator);
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}
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assert(diff < 1E-6f);
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//Now, insert a series of errors and ensure we trip the error detector
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for (int i = 0; i < 250; i++, val += sufficient_incr_value) {
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timestamp += timestamp_incr;
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//100% error rate
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error_count += 1;
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expected_error_density += 1;
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validator->put(timestamp, val, error_count, priority);
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}
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conf = validator->confidence(timestamp);
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assert(0.0f == conf); // should we be completely unconfident
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// we should have triggered the high error density detector
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assert(DataValidator::ERROR_FLAG_HIGH_ERRDENSITY == (DataValidator::ERROR_FLAG_HIGH_ERRDENSITY & validator->state()));
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validator->reset_state();
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//Now insert so many errors that we exceed private NORETURN_ERRCOUNT
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for (int i = 0; i < 10000; i++, val += sufficient_incr_value) {
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timestamp += timestamp_incr;
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//100% error rate
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error_count += 1;
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expected_error_density += 1;
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validator->put(timestamp, val, error_count, priority);
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}
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conf = validator->confidence(timestamp);
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assert(0.0f == conf); // should we be completely unconfident
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// we should have triggered the high error count detector
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assert(DataValidator::ERROR_FLAG_HIGH_ERRCOUNT == (DataValidator::ERROR_FLAG_HIGH_ERRCOUNT & validator->state()));
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delete validator; //force delete
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}
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int main(int argc, char *argv[])
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@ -222,10 +302,13 @@ int main(int argc, char *argv[])
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(void)argc; // unused
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(void)argv; // unused
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srand(666);
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test_init();
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test_put();
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test_stale_detector();
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test_rms_calculation();
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test_error_tracking();
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//TODO verify vibration calculation
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return 0; //passed
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}
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@ -0,0 +1,440 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 Todd Stellanova. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file test_data_validator_group.cpp
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* Testing the DataValidatorGroup class
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*
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* @author Todd Stellanova
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*/
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#include <stdint.h>
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#include <cassert>
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#include <stdio.h>
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#include <math.h>
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#include <validation/data_validator.h>
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#include <validation/data_validator_group.h>
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#include <validation/tests/tests_common.h>
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const uint32_t base_timeout_usec = 2000;//from original private value
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const int equal_value_count = 100; //default is private VALUE_EQUAL_COUNT_DEFAULT
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const uint64_t base_timestamp = 666;
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const unsigned base_num_siblings = 4;
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/**
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* Initialize a DataValidatorGroup with some common settings;
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* @param sibling_count (out) the number of siblings initialized
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*/
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DataValidatorGroup *setup_base_group(unsigned *sibling_count)
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{
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unsigned num_siblings = base_num_siblings;
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|
||||
DataValidatorGroup *group = new DataValidatorGroup(num_siblings);
|
||||
assert(nullptr != group);
|
||||
//verify that calling print doesn't crash the tests
|
||||
group->print();
|
||||
printf("\n");
|
||||
|
||||
//should be no failovers yet
|
||||
assert(0 == group->failover_count());
|
||||
assert(DataValidator::ERROR_FLAG_NO_ERROR == group->failover_state());
|
||||
assert(-1 == group->failover_index());
|
||||
|
||||
//no vibration yet
|
||||
float vibe_off = group->get_vibration_offset(base_timestamp, 0);
|
||||
printf("vibe_off: %f \n", (double)vibe_off);
|
||||
assert(-1.0f == group->get_vibration_offset(base_timestamp, 0));
|
||||
|
||||
float vibe_fact = group->get_vibration_factor(base_timestamp);
|
||||
printf("vibe_fact: %f \n", (double)vibe_fact);
|
||||
assert(0.0f == vibe_fact);
|
||||
|
||||
//this sets the timeout on all current members of the group, as well as members added later
|
||||
group->set_timeout(base_timeout_usec);
|
||||
//the following sets the threshold on all CURRENT members of the group, but not any added later
|
||||
//TODO This is likely a bug in DataValidatorGroup
|
||||
group->set_equal_value_threshold(equal_value_count);
|
||||
|
||||
//return values
|
||||
*sibling_count = num_siblings;
|
||||
|
||||
return group;
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Fill one DataValidator with samples, by index.
|
||||
*
|
||||
* @param group
|
||||
* @param val1_idx Index of the validator to fill with samples
|
||||
* @param num_samples
|
||||
*/
|
||||
void fill_one_with_valid_data(DataValidatorGroup *group, int val1_idx, uint32_t num_samples)
|
||||
{
|
||||
uint64_t timestamp = base_timestamp;
|
||||
uint64_t error_count = 0;
|
||||
float last_best_val = 0.0f;
|
||||
|
||||
for (uint32_t i = 0; i < num_samples; i++) {
|
||||
float val = ((float) rand() / (float) RAND_MAX);
|
||||
float data[DataValidator::dimensions] = {val};
|
||||
group->put(val1_idx, timestamp, data, error_count, 100);
|
||||
last_best_val = val;
|
||||
}
|
||||
|
||||
int best_idx = 0;
|
||||
float *best_data = group->get_best(timestamp, &best_idx);
|
||||
assert(last_best_val == best_data[0]);
|
||||
assert(best_idx == val1_idx);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Fill two validators in the group with samples, by index.
|
||||
* Both validators will be filled with the same data, but
|
||||
* the priority of the first validator will be higher than the second.
|
||||
*
|
||||
* @param group
|
||||
* @param val1_idx index of the first validator to fill
|
||||
* @param val2_idx index of the second validator to fill
|
||||
* @param num_samples
|
||||
*/
|
||||
void fill_two_with_valid_data(DataValidatorGroup *group, int val1_idx, int val2_idx, uint32_t num_samples)
|
||||
{
|
||||
uint64_t timestamp = base_timestamp;
|
||||
uint64_t error_count = 0;
|
||||
float last_best_val = 0.0f;
|
||||
|
||||
for (uint32_t i = 0; i < num_samples; i++) {
|
||||
float val = ((float) rand() / (float) RAND_MAX);
|
||||
float data[DataValidator::dimensions] = {val};
|
||||
//two sensors with identical values, but different priorities
|
||||
group->put(val1_idx, timestamp, data, error_count, 100);
|
||||
group->put(val2_idx, timestamp, data, error_count, 10);
|
||||
last_best_val = val;
|
||||
}
|
||||
|
||||
int best_idx = 0;
|
||||
float *best_data = group->get_best(timestamp, &best_idx);
|
||||
assert(last_best_val == best_data[0]);
|
||||
assert(best_idx == val1_idx);
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Dynamically add a validator to the group after construction
|
||||
* @param group
|
||||
* @return
|
||||
*/
|
||||
DataValidator *add_validator_to_group(DataValidatorGroup *group)
|
||||
{
|
||||
DataValidator *validator = group->add_new_validator();
|
||||
//verify the previously set timeout applies to the new group member
|
||||
assert(validator->get_timeout() == base_timeout_usec);
|
||||
//for testing purposes, ensure this newly added member is consistent with the rest of the group
|
||||
//TODO this is likely a bug in DataValidatorGroup
|
||||
validator->set_equal_value_threshold(equal_value_count);
|
||||
|
||||
return validator;
|
||||
}
|
||||
|
||||
/**
|
||||
* Create a DataValidatorGroup and tack on two additional DataValidators
|
||||
*
|
||||
* @param validator1_handle (out) first DataValidator added to the group
|
||||
* @param validator2_handle (out) second DataValidator added to the group
|
||||
* @param sibling_count (in/out) in: number of initial siblings to create, out: total
|
||||
* @return
|
||||
*/
|
||||
DataValidatorGroup *setup_group_with_two_validator_handles(
|
||||
DataValidator **validator1_handle,
|
||||
DataValidator **validator2_handle,
|
||||
unsigned *sibling_count)
|
||||
{
|
||||
DataValidatorGroup *group = setup_base_group(sibling_count);
|
||||
|
||||
//now we add validators
|
||||
*validator1_handle = add_validator_to_group(group);
|
||||
*validator2_handle = add_validator_to_group(group);
|
||||
*sibling_count += 2;
|
||||
|
||||
return group;
|
||||
}
|
||||
|
||||
|
||||
void test_init()
|
||||
{
|
||||
unsigned num_siblings = 0;
|
||||
|
||||
DataValidatorGroup *group = setup_base_group(&num_siblings);
|
||||
|
||||
//should not yet be any best value
|
||||
int best_index = -1;
|
||||
assert(nullptr == group->get_best(base_timestamp, &best_index));
|
||||
|
||||
delete group; //force cleanup
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Happy path test of put method -- ensure the "best" sensor selected is the one with highest priority
|
||||
*/
|
||||
void test_put()
|
||||
{
|
||||
unsigned num_siblings = 0;
|
||||
DataValidator *validator1 = nullptr;
|
||||
DataValidator *validator2 = nullptr;
|
||||
|
||||
uint64_t timestamp = base_timestamp;
|
||||
|
||||
DataValidatorGroup *group = setup_group_with_two_validator_handles(&validator1, &validator2, &num_siblings);
|
||||
printf("num_siblings: %d \n", num_siblings);
|
||||
unsigned val1_idx = num_siblings - 2;
|
||||
unsigned val2_idx = num_siblings - 1;
|
||||
|
||||
fill_two_with_valid_data(group, val1_idx, val2_idx, 500);
|
||||
int best_idx = -1;
|
||||
float *best_data = group->get_best(timestamp, &best_idx);
|
||||
assert(nullptr != best_data);
|
||||
float best_val = best_data[0];
|
||||
|
||||
float *cur_val1 = validator1->value();
|
||||
assert(nullptr != cur_val1);
|
||||
//printf("cur_val1 %p \n", cur_val1);
|
||||
assert(best_val == cur_val1[0]);
|
||||
|
||||
float *cur_val2 = validator2->value();
|
||||
assert(nullptr != cur_val2);
|
||||
//printf("cur_val12 %p \n", cur_val2);
|
||||
assert(best_val == cur_val2[0]);
|
||||
|
||||
delete group; //force cleanup
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Verify that the DataValidatorGroup will select the sensor with the latest higher priority as "best".
|
||||
*/
|
||||
void test_priority_switch()
|
||||
{
|
||||
unsigned num_siblings = 0;
|
||||
DataValidator *validator1 = nullptr;
|
||||
DataValidator *validator2 = nullptr;
|
||||
|
||||
uint64_t timestamp = base_timestamp;
|
||||
|
||||
DataValidatorGroup *group = setup_group_with_two_validator_handles(&validator1, &validator2, &num_siblings);
|
||||
//printf("num_siblings: %d \n",num_siblings);
|
||||
int val1_idx = (int)num_siblings - 2;
|
||||
int val2_idx = (int)num_siblings - 1;
|
||||
uint64_t error_count = 0;
|
||||
|
||||
fill_two_with_valid_data(group, val1_idx, val2_idx, 100);
|
||||
|
||||
int best_idx = -1;
|
||||
float *best_data = nullptr;
|
||||
//now, switch the priorities, which switches "best" but doesn't trigger a failover
|
||||
float new_best_val = 3.14159f;
|
||||
float data[DataValidator::dimensions] = {new_best_val};
|
||||
//a single sample insertion should be sufficient to trigger a priority switch
|
||||
group->put(val1_idx, timestamp, data, error_count, 1);
|
||||
group->put(val2_idx, timestamp, data, error_count, 100);
|
||||
best_data = group->get_best(timestamp, &best_idx);
|
||||
assert(new_best_val == best_data[0]);
|
||||
//the new best sensor should now be the sensor with the higher priority
|
||||
assert(best_idx == val2_idx);
|
||||
//should not have detected a real failover
|
||||
assert(0 == group->failover_count());
|
||||
|
||||
delete group; //cleanup
|
||||
}
|
||||
|
||||
/**
|
||||
* Verify that the DataGroupValidator will prefer a sensor with no errors over a sensor with high errors
|
||||
*/
|
||||
void test_simple_failover()
|
||||
{
|
||||
unsigned num_siblings = 0;
|
||||
DataValidator *validator1 = nullptr;
|
||||
DataValidator *validator2 = nullptr;
|
||||
|
||||
uint64_t timestamp = base_timestamp;
|
||||
|
||||
DataValidatorGroup *group = setup_group_with_two_validator_handles(&validator1, &validator2, &num_siblings);
|
||||
//printf("num_siblings: %d \n",num_siblings);
|
||||
int val1_idx = (int)num_siblings - 2;
|
||||
int val2_idx = (int)num_siblings - 1;
|
||||
|
||||
|
||||
fill_two_with_valid_data(group, val1_idx, val2_idx, 100);
|
||||
|
||||
int best_idx = -1;
|
||||
float *best_data = nullptr;
|
||||
|
||||
//trigger a real failover
|
||||
float new_best_val = 3.14159f;
|
||||
float data[DataValidator::dimensions] = {new_best_val};
|
||||
//trigger a bunch of errors on the previous best sensor
|
||||
unsigned val1_err_count = 0;
|
||||
|
||||
for (int i = 0; i < 25; i++) {
|
||||
group->put(val1_idx, timestamp, data, ++val1_err_count, 100);
|
||||
group->put(val2_idx, timestamp, data, 0, 10);
|
||||
}
|
||||
|
||||
assert(validator1->error_count() == val1_err_count);
|
||||
|
||||
//since validator1 is experiencing errors, we should see a failover to validator2
|
||||
best_data = group->get_best(timestamp + 1, &best_idx);
|
||||
assert(nullptr != best_data);
|
||||
assert(new_best_val == best_data[0]);
|
||||
assert(best_idx == val2_idx);
|
||||
//should have detected a real failover
|
||||
printf("failover_count: %d \n", group->failover_count());
|
||||
assert(1 == group->failover_count());
|
||||
|
||||
//even though validator1 has encountered a bunch of errors, it hasn't failed
|
||||
assert(DataValidator::ERROR_FLAG_NO_ERROR == validator1->state());
|
||||
|
||||
// although we failed over from one sensor to another, this is not the same thing tracked by failover_index
|
||||
int fail_idx = group->failover_index();
|
||||
assert(-1 == fail_idx);//no failed sensor
|
||||
|
||||
//since no sensor has actually hard-failed, the group failover state is NO_ERROR
|
||||
assert(DataValidator::ERROR_FLAG_NO_ERROR == group->failover_state());
|
||||
|
||||
|
||||
delete group; //cleanup
|
||||
}
|
||||
|
||||
/**
|
||||
* Verify that we get expected vibration values after injecting samples.
|
||||
*/
|
||||
void test_vibration()
|
||||
{
|
||||
unsigned num_siblings = 0;
|
||||
uint64_t timestamp = base_timestamp;
|
||||
|
||||
DataValidatorGroup *group = setup_base_group(&num_siblings);
|
||||
|
||||
//now we add validators
|
||||
DataValidator *validator = add_validator_to_group(group);
|
||||
assert(nullptr != validator);
|
||||
num_siblings++;
|
||||
float *vibes = validator->vibration_offset();
|
||||
assert(nullptr != vibes);
|
||||
//printf("val vibes: %f \n", vibes[0]);
|
||||
//should be no vibration data yet
|
||||
assert(0 == vibes[0]);
|
||||
|
||||
float vibe_o = group->get_vibration_offset(timestamp, 0);
|
||||
//printf("group vibe_o %f \n", vibe_o);
|
||||
// there should be no known vibe offset before samples are inserted
|
||||
assert(-1.0f == vibe_o);
|
||||
|
||||
float rms_err = 0.0f;
|
||||
//insert some swinging values
|
||||
insert_values_around_mean(validator, 3.14159f, 1000, &rms_err, ×tamp);
|
||||
vibes = validator->vibration_offset();
|
||||
assert(nullptr != vibes);
|
||||
printf("val1 vibes: %f rms_err: %f \n", vibes[0], (double)rms_err);
|
||||
|
||||
vibe_o = group->get_vibration_offset(timestamp, 0);
|
||||
printf("group vibe_o %f \n", vibe_o);
|
||||
//the one validator's vibration offset should match the group's vibration offset
|
||||
assert(vibes[0] == vibe_o);
|
||||
|
||||
//this should be "The best RMS value of a non-timed out sensor"
|
||||
float group_vibe_fact = group->get_vibration_factor(timestamp);
|
||||
float val1_rms = (validator->rms())[0];
|
||||
printf("group_vibe_fact: %f val1_rms: %f\n", (double)group_vibe_fact, (double)val1_rms);
|
||||
assert(group_vibe_fact == val1_rms);
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Force once sensor to fail and ensure that we detect it
|
||||
*/
|
||||
void test_sensor_failure()
|
||||
{
|
||||
unsigned num_siblings = 0;
|
||||
uint64_t timestamp = base_timestamp;
|
||||
const float sufficient_incr_value = (1.1f * 1E-6f);
|
||||
const uint32_t timeout_usec = 2000;//derived from class-private value
|
||||
|
||||
float val = 3.14159f;
|
||||
|
||||
DataValidatorGroup *group = setup_base_group(&num_siblings);
|
||||
|
||||
//now we add validators
|
||||
DataValidator *validator = add_validator_to_group(group);
|
||||
assert(nullptr != validator);
|
||||
num_siblings++;
|
||||
int val_idx = num_siblings - 1;
|
||||
|
||||
fill_validator_with_samples(validator, sufficient_incr_value, &val, ×tamp);
|
||||
//the best should now be the one validator we've filled with samples
|
||||
|
||||
int best_idx = -1;
|
||||
float *best_data = group->get_best(timestamp, &best_idx);
|
||||
assert(nullptr != best_data);
|
||||
//printf("best_idx: %d val_idx: %d\n", best_idx, val_idx);
|
||||
assert(best_idx == val_idx);
|
||||
|
||||
//now force a timeout failure in the one validator, by checking confidence long past timeout
|
||||
validator->confidence(timestamp + (1.1 * timeout_usec));
|
||||
assert(DataValidator::ERROR_FLAG_TIMEOUT == (DataValidator::ERROR_FLAG_TIMEOUT & validator->state()));
|
||||
|
||||
//now that the one sensor has failed, the group should detect this as well
|
||||
int fail_idx = group->failover_index();
|
||||
assert(val_idx == fail_idx);
|
||||
|
||||
delete group;
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
(void)argc; // unused
|
||||
(void)argv; // unused
|
||||
|
||||
test_init();
|
||||
test_put();
|
||||
test_simple_failover();
|
||||
test_priority_switch();
|
||||
test_vibration();
|
||||
test_sensor_failure();
|
||||
|
||||
return 0; //passed
|
||||
}
|
||||
|
|
@ -0,0 +1,103 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 Todd Stellanova. 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 of the copyright holder 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 <stdio.h>
|
||||
#include "tests_common.h"
|
||||
|
||||
|
||||
void insert_values_around_mean(DataValidator *validator, const float mean, uint32_t count, float *rms_err,
|
||||
uint64_t *timestamp_io)
|
||||
{
|
||||
uint64_t timestamp = *timestamp_io;
|
||||
uint64_t timestamp_incr = 5;
|
||||
const uint64_t error_count = 0;
|
||||
const int priority = 50;
|
||||
const float swing = 1E-2f;
|
||||
double sum_dev_squares = 0.0f;
|
||||
|
||||
//insert a series of values that swing around the mean
|
||||
for (uint32_t i = 0; i < count; i++) {
|
||||
float iter_swing = (0 == (i % 2)) ? swing : -swing;
|
||||
float iter_val = mean + iter_swing;
|
||||
float iter_dev = iter_val - mean;
|
||||
sum_dev_squares += (iter_dev * iter_dev);
|
||||
timestamp += timestamp_incr;
|
||||
validator->put(timestamp, iter_val, error_count, priority);
|
||||
}
|
||||
|
||||
double rms = sqrt(sum_dev_squares / (double)count);
|
||||
//note: this should be approximately equal to "swing"
|
||||
*rms_err = (float)rms;
|
||||
*timestamp_io = timestamp;
|
||||
}
|
||||
|
||||
void dump_validator_state(DataValidator *validator)
|
||||
{
|
||||
uint32_t state = validator->state();
|
||||
printf("state: 0x%x no_data: %d stale: %d timeout:%d\n",
|
||||
validator->state(),
|
||||
DataValidator::ERROR_FLAG_NO_DATA & state,
|
||||
DataValidator::ERROR_FLAG_STALE_DATA & state,
|
||||
DataValidator::ERROR_FLAG_TIMEOUT & state
|
||||
);
|
||||
validator->print();
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
void fill_validator_with_samples(DataValidator *validator,
|
||||
const float incr_value,
|
||||
float *value_io,
|
||||
uint64_t *timestamp_io)
|
||||
{
|
||||
uint64_t timestamp = *timestamp_io;
|
||||
const uint64_t timestamp_incr = 5; //usec
|
||||
const uint32_t timeout_usec = 2000;//derived from class-private value
|
||||
|
||||
float val = *value_io;
|
||||
const uint64_t error_count = 0;
|
||||
const int priority = 50; //"medium" priority
|
||||
const int equal_value_count = 100; //default is private VALUE_EQUAL_COUNT_DEFAULT
|
||||
|
||||
validator->set_equal_value_threshold(equal_value_count);
|
||||
validator->set_timeout(timeout_usec);
|
||||
|
||||
//put a bunch of values that are all different
|
||||
for (int i = 0; i < equal_value_count; i++, val += incr_value) {
|
||||
timestamp += timestamp_incr;
|
||||
validator->put(timestamp, val, error_count, priority);
|
||||
}
|
||||
|
||||
*timestamp_io = timestamp;
|
||||
*value_io = val;
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,68 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 Todd Stellanova. 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 of the copyright holder 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef ECL_TESTS_COMMON_H
|
||||
#define ECL_TESTS_COMMON_H
|
||||
|
||||
#include <validation/data_validator.h>
|
||||
|
||||
/**
|
||||
* Insert a series of samples around a mean value
|
||||
* @param validator The validator under test
|
||||
* @param mean The mean value
|
||||
* @param count The number of samples to insert in the validator
|
||||
* @param rms_err (out) calculated rms error of the inserted samples
|
||||
* @param timestamp_io (in/out) in: start timestamp, out: last timestamp
|
||||
*/
|
||||
void insert_values_around_mean(DataValidator *validator, const float mean, uint32_t count, float *rms_err,
|
||||
uint64_t *timestamp_io);
|
||||
|
||||
/**
|
||||
* Print out the state of a DataValidator
|
||||
* @param validator
|
||||
*/
|
||||
void dump_validator_state(DataValidator *validator);
|
||||
|
||||
/**
|
||||
* Insert a time series of samples into the validator
|
||||
* @param validator
|
||||
* @param incr_value The amount to increment the value by on each iteration
|
||||
* @param value_io (in/out) in: initial value, out: final value
|
||||
* @param timestamp_io (in/out) in: initial timestamp, out: final timestamp
|
||||
*/
|
||||
void fill_validator_with_samples(DataValidator *validator,
|
||||
const float incr_value,
|
||||
float *value_io,
|
||||
uint64_t *timestamp_io);
|
||||
|
||||
#endif //ECL_TESTS_COMMON_H
|
||||
Loading…
Reference in New Issue