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Move applicable integration tests to native build as unit tests (#1364)

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This commit is contained in:
Tyler Veness
2018-10-29 00:12:38 -07:00
committed by Peter Johnson
parent e89d5eb692
commit 99e0f08a6f
8 changed files with 45 additions and 42 deletions
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8
wpilibcIntegrationTests/src/main/native/cpp/CircularBufferTest.cpp → wpilibc/src/test/native/cpp/CircularBufferTest.cpp
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@@ -14,14 +14,14 @@
using namespace frc;
static const std::array<double, 10> values = {
751.848, 766.366, 342.657, 234.252, 716.126,
132.344, 445.697, 22.727, 421.125, 799.913};
{751.848, 766.366, 342.657, 234.252, 716.126, 132.344, 445.697, 22.727,
421.125, 799.913}};
static const std::array<double, 8> pushFrontOut = {
799.913, 421.125, 22.727, 445.697, 132.344, 716.126, 234.252, 342.657};
{799.913, 421.125, 22.727, 445.697, 132.344, 716.126, 234.252, 342.657}};
static const std::array<double, 8> pushBackOut = {
342.657, 234.252, 716.126, 132.344, 445.697, 22.727, 421.125, 799.913};
{342.657, 234.252, 716.126, 132.344, 445.697, 22.727, 421.125, 799.913}};
TEST(CircularBufferTest, PushFrontTest) {
circular_buffer<double> queue(8);

28
wpilibcIntegrationTests/src/main/native/cpp/FilterNoiseTest.cpp → wpilibc/src/test/native/cpp/FilterNoiseTest.cpp
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@@ -13,10 +13,20 @@
#include <random>
#include <thread>
#include "TestBench.h"
#include "frc/Base.h"
#include "gtest/gtest.h"
/* Filter constants */
static constexpr double kFilterStep = 0.005;
static constexpr double kFilterTime = 2.0;
static constexpr double kSinglePoleIIRTimeConstant = 0.015915;
static constexpr double kSinglePoleIIRExpectedOutput = -3.2172003;
static constexpr double kHighPassTimeConstant = 0.006631;
static constexpr double kHighPassExpectedOutput = 10.074717;
static constexpr int32_t kMovAvgTaps = 6;
static constexpr double kMovAvgExpectedOutput = -10.191644;
static constexpr double kPi = 3.14159265358979323846;
using namespace frc;
enum FilterNoiseTestType { TEST_SINGLE_POLE_IIR, TEST_MOVAVG };
@@ -53,18 +63,18 @@ class NoiseGenerator : public PIDSource {
double PIDGet() override {
m_noise = m_distr(m_gen);
m_count += TestBench::kFilterStep;
m_count += kFilterStep;
return m_dataFunc(m_count) + m_noise;
}
void Reset() { m_count = -TestBench::kFilterStep; }
void Reset() { m_count = -kFilterStep; }
private:
std::function<double(double)> m_dataFunc;
double m_noise = 0.0;
// Make sure first call to PIDGet() uses m_count == 0
double m_count = -TestBench::kFilterStep;
double m_count = -kFilterStep;
std::random_device m_rd;
std::mt19937 m_gen{m_rd()};
@@ -79,7 +89,7 @@ class FilterNoiseTest : public testing::TestWithParam<FilterNoiseTestType> {
std::unique_ptr<PIDSource> m_filter;
std::shared_ptr<NoiseGenerator> m_noise;
static double GetData(double t) { return 100.0 * std::sin(2.0 * M_PI * t); }
static double GetData(double t) { return 100.0 * std::sin(2.0 * kPi * t); }
void SetUp() override {
m_noise = std::make_shared<NoiseGenerator>(GetData, kStdDev);
@@ -88,15 +98,13 @@ class FilterNoiseTest : public testing::TestWithParam<FilterNoiseTestType> {
case TEST_SINGLE_POLE_IIR: {
m_filter = std::make_unique<LinearDigitalFilter>(
LinearDigitalFilter::SinglePoleIIR(
m_noise, TestBench::kSinglePoleIIRTimeConstant,
TestBench::kFilterStep));
m_noise, kSinglePoleIIRTimeConstant, kFilterStep));
break;
}
case TEST_MOVAVG: {
m_filter = std::make_unique<LinearDigitalFilter>(
LinearDigitalFilter::MovingAverage(m_noise,
TestBench::kMovAvgTaps));
LinearDigitalFilter::MovingAverage(m_noise, kMovAvgTaps));
break;
}
}
@@ -112,7 +120,7 @@ TEST_P(FilterNoiseTest, NoiseReduce) {
double filterError = 0.0;
m_noise->Reset();
for (double t = 0; t < TestBench::kFilterTime; t += TestBench::kFilterStep) {
for (double t = 0; t < kFilterTime; t += kFilterStep) {
theoryData = GetData(t);
filterError += std::abs(m_filter->PIDGet() - theoryData);
noiseGenError += std::abs(m_noise->Get() - theoryData);

39
wpilibcIntegrationTests/src/main/native/cpp/FilterOutputTest.cpp → wpilibc/src/test/native/cpp/FilterOutputTest.cpp
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@@ -13,10 +13,20 @@
#include <random>
#include <thread>
#include "TestBench.h"
#include "frc/Base.h"
#include "gtest/gtest.h"
/* Filter constants */
static constexpr double kFilterStep = 0.005;
static constexpr double kFilterTime = 2.0;
static constexpr double kSinglePoleIIRTimeConstant = 0.015915;
static constexpr double kSinglePoleIIRExpectedOutput = -3.2172003;
static constexpr double kHighPassTimeConstant = 0.006631;
static constexpr double kHighPassExpectedOutput = 10.074717;
static constexpr int32_t kMovAvgTaps = 6;
static constexpr double kMovAvgExpectedOutput = -10.191644;
static constexpr double kPi = 3.14159265358979323846;
using namespace frc;
enum FilterOutputTestType {
@@ -52,17 +62,17 @@ class DataWrapper : public PIDSource {
virtual void SetPIDSourceType(PIDSourceType pidSource) {}
virtual double PIDGet() {
m_count += TestBench::kFilterStep;
m_count += kFilterStep;
return m_dataFunc(m_count);
}
void Reset() { m_count = -TestBench::kFilterStep; }
void Reset() { m_count = -kFilterStep; }
private:
std::function<double(double)> m_dataFunc;
// Make sure first call to PIDGet() uses m_count == 0
double m_count = -TestBench::kFilterStep;
double m_count = -kFilterStep;
};
/**
@@ -75,7 +85,7 @@ class FilterOutputTest : public testing::TestWithParam<FilterOutputTestType> {
double m_expectedOutput = 0.0;
static double GetData(double t) {
return 100.0 * std::sin(2.0 * M_PI * t) + 20.0 * std::cos(50.0 * M_PI * t);
return 100.0 * std::sin(2.0 * kPi * t) + 20.0 * std::cos(50.0 * kPi * t);
}
static double GetPulseData(double t) {
@@ -92,9 +102,8 @@ class FilterOutputTest : public testing::TestWithParam<FilterOutputTestType> {
m_data = std::make_shared<DataWrapper>(GetData);
m_filter = std::make_unique<LinearDigitalFilter>(
LinearDigitalFilter::SinglePoleIIR(
m_data, TestBench::kSinglePoleIIRTimeConstant,
TestBench::kFilterStep));
m_expectedOutput = TestBench::kSinglePoleIIRExpectedOutput;
m_data, kSinglePoleIIRTimeConstant, kFilterStep));
m_expectedOutput = kSinglePoleIIRExpectedOutput;
break;
}
@@ -102,24 +111,23 @@ class FilterOutputTest : public testing::TestWithParam<FilterOutputTestType> {
m_data = std::make_shared<DataWrapper>(GetData);
m_filter =
std::make_unique<LinearDigitalFilter>(LinearDigitalFilter::HighPass(
m_data, TestBench::kHighPassTimeConstant,
TestBench::kFilterStep));
m_expectedOutput = TestBench::kHighPassExpectedOutput;
m_data, kHighPassTimeConstant, kFilterStep));
m_expectedOutput = kHighPassExpectedOutput;
break;
}
case TEST_MOVAVG: {
m_data = std::make_shared<DataWrapper>(GetData);
m_filter = std::make_unique<LinearDigitalFilter>(
LinearDigitalFilter::MovingAverage(m_data, TestBench::kMovAvgTaps));
m_expectedOutput = TestBench::kMovAvgExpectedOutput;
LinearDigitalFilter::MovingAverage(m_data, kMovAvgTaps));
m_expectedOutput = kMovAvgExpectedOutput;
break;
}
case TEST_PULSE: {
m_data = std::make_shared<DataWrapper>(GetPulseData);
m_filter = std::make_unique<LinearDigitalFilter>(
LinearDigitalFilter::MovingAverage(m_data, TestBench::kMovAvgTaps));
LinearDigitalFilter::MovingAverage(m_data, kMovAvgTaps));
m_expectedOutput = 0.0;
break;
}
@@ -134,8 +142,7 @@ TEST_P(FilterOutputTest, FilterOutput) {
m_data->Reset();
double filterOutput = 0.0;
for (double t = 0.0; t < TestBench::kFilterTime;
t += TestBench::kFilterStep) {
for (double t = 0.0; t < kFilterTime; t += kFilterStep) {
filterOutput = m_filter->PIDGet();
}

0
wpilibcIntegrationTests/src/main/native/cpp/MockSpeedController.cpp → wpilibc/src/test/native/cpp/MockSpeedController.cpp
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1
wpilibcIntegrationTests/src/main/native/cpp/RobotDriveTest.cpp → wpilibc/src/test/native/cpp/RobotDriveTest.cpp
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@@ -6,7 +6,6 @@
/*----------------------------------------------------------------------------*/
#include "MockSpeedController.h"
#include "TestBench.h"
#include "frc/RobotDrive.h"
#include "frc/drive/DifferentialDrive.h"
#include "frc/drive/MecanumDrive.h"

1
wpilibcIntegrationTests/src/main/native/cpp/SpeedControllerGroupTest.cpp → wpilibc/src/test/native/cpp/SpeedControllerGroupTest.cpp
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@@ -11,7 +11,6 @@
#include <vector>
#include "MockSpeedController.h"
#include "TestBench.h"
#include "gtest/gtest.h"
using namespace frc;

0
wpilibcIntegrationTests/src/main/native/include/MockSpeedController.h → wpilibc/src/test/native/include/MockSpeedController.h
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10
wpilibcIntegrationTests/src/main/native/include/TestBench.h
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@@ -56,14 +56,4 @@ class TestBench {
/* PCM channels */
static const int32_t kSolenoidChannel1 = 0;
static const int32_t kSolenoidChannel2 = 1;
/* Filter constants */
static constexpr double kFilterStep = 0.005;
static constexpr double kFilterTime = 2.0;
static constexpr double kSinglePoleIIRTimeConstant = 0.015915;
static constexpr double kSinglePoleIIRExpectedOutput = -3.2172003;
static constexpr double kHighPassTimeConstant = 0.006631;
static constexpr double kHighPassExpectedOutput = 10.074717;
static constexpr int32_t kMovAvgTaps = 6;
static constexpr double kMovAvgExpectedOutput = -10.191644;
};