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

wpilibc/src/test/native/cpp/CircularBufferTest.cpp

@@ -0,0 +1,211 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/circular_buffer.h"  // NOLINT(build/include_order)
+
+#include <array>
+
+#include "gtest/gtest.h"
+
+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}};
+
+static const std::array<double, 8> pushFrontOut = {
+    {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}};
+
+TEST(CircularBufferTest, PushFrontTest) {
+  circular_buffer<double> queue(8);
+
+  for (auto& value : values) {
+    queue.push_front(value);
+  }
+
+  for (size_t i = 0; i < pushFrontOut.size(); i++) {
+    EXPECT_EQ(pushFrontOut[i], queue[i]);
+  }
+}
+
+TEST(CircularBufferTest, PushBackTest) {
+  circular_buffer<double> queue(8);
+
+  for (auto& value : values) {
+    queue.push_back(value);
+  }
+
+  for (size_t i = 0; i < pushBackOut.size(); i++) {
+    EXPECT_EQ(pushBackOut[i], queue[i]);
+  }
+}
+
+TEST(CircularBufferTest, PushPopTest) {
+  circular_buffer<double> queue(3);
+
+  // Insert three elements into the buffer
+  queue.push_back(1.0);
+  queue.push_back(2.0);
+  queue.push_back(3.0);
+
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+  EXPECT_EQ(3.0, queue[2]);
+
+  /*
+   * The buffer is full now, so pushing subsequent elements will overwrite the
+   * front-most elements.
+   */
+
+  queue.push_back(4.0);  // Overwrite 1 with 4
+
+  // The buffer now contains 2, 3 and 4
+  EXPECT_EQ(2.0, queue[0]);
+  EXPECT_EQ(3.0, queue[1]);
+  EXPECT_EQ(4.0, queue[2]);
+
+  queue.push_back(5.0);  // Overwrite 2 with 5
+
+  // The buffer now contains 3, 4 and 5
+  EXPECT_EQ(3.0, queue[0]);
+  EXPECT_EQ(4.0, queue[1]);
+  EXPECT_EQ(5.0, queue[2]);
+
+  EXPECT_EQ(5.0, queue.pop_back());  // 5 is removed
+
+  // The buffer now contains 3 and 4
+  EXPECT_EQ(3.0, queue[0]);
+  EXPECT_EQ(4.0, queue[1]);
+
+  EXPECT_EQ(3.0, queue.pop_front());  // 3 is removed
+
+  // Leaving only one element with value == 4
+  EXPECT_EQ(4.0, queue[0]);
+}
+
+TEST(CircularBufferTest, ResetTest) {
+  circular_buffer<double> queue(5);
+
+  for (size_t i = 1; i < 6; i++) {
+    queue.push_back(i);
+  }
+
+  queue.reset();
+
+  for (size_t i = 0; i < 5; i++) {
+    EXPECT_EQ(0.0, queue[i]);
+  }
+}
+
+TEST(CircularBufferTest, ResizeTest) {
+  circular_buffer<double> queue(5);
+
+  /* Buffer contains {1, 2, 3, _, _}
+   *                  ^ front
+   */
+  queue.push_back(1.0);
+  queue.push_back(2.0);
+  queue.push_back(3.0);
+
+  queue.resize(2);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.resize(5);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.reset();
+
+  /* Buffer contains {_, 1, 2, 3, _}
+   *                     ^ front
+   */
+  queue.push_back(0.0);
+  queue.push_back(1.0);
+  queue.push_back(2.0);
+  queue.push_back(3.0);
+  queue.pop_front();
+
+  queue.resize(2);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.resize(5);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.reset();
+
+  /* Buffer contains {_, _, 1, 2, 3}
+   *                        ^ front
+   */
+  queue.push_back(0.0);
+  queue.push_back(0.0);
+  queue.push_back(1.0);
+  queue.push_back(2.0);
+  queue.push_back(3.0);
+  queue.pop_front();
+  queue.pop_front();
+
+  queue.resize(2);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.resize(5);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.reset();
+
+  /* Buffer contains {3, _, _, 1, 2}
+   *                           ^ front
+   */
+  queue.push_back(3.0);
+  queue.push_front(2.0);
+  queue.push_front(1.0);
+
+  queue.resize(2);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.resize(5);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.reset();
+
+  /* Buffer contains {2, 3, _, _, 1}
+   *                              ^ front
+   */
+  queue.push_back(2.0);
+  queue.push_back(3.0);
+  queue.push_front(1.0);
+
+  queue.resize(2);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.resize(5);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  // Test push_back() after resize
+  queue.push_back(3.0);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+  EXPECT_EQ(3.0, queue[2]);
+
+  // Test push_front() after resize
+  queue.push_front(4.0);
+  EXPECT_EQ(4.0, queue[0]);
+  EXPECT_EQ(1.0, queue[1]);
+  EXPECT_EQ(2.0, queue[2]);
+  EXPECT_EQ(3.0, queue[3]);
+}