forked from Archive/PX4-Autopilot
added tests for EKF ringbuffer
This commit is contained in:
parent
d90c8fd7c2
commit
921df43d32
|
@ -0,0 +1,44 @@
|
|||
############################################################################
|
||||
#
|
||||
# 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 :
|
|
@ -0,0 +1,121 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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;
|
||||
}
|
Loading…
Reference in New Issue