added tests for EKF ringbuffer

EKF/tests/ringbuffer/CMakeLists.txt

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+############################################################################
+#
+#   Copyright (c) 2015 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 ECL 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.
+#
+############################################################################
+px4_add_module(
+	MODULE lib__ecl__EKF__tests__ringbuffer
+	MAIN ringbuffer
+	STACK 4096
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		ringbuffer.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

EKF/tests/ringbuffer/ringbuffer.cpp

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+/****************************************************************************
+ *
+ *   Copyright (c) 2015 Estimation and Control Library (ECL). 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 ECL 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @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;
+}