mirror of
https://github.com/wpilibsuite/allwpilib
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Move circular buffer class from wpilib to wpiutil (#1840)
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
4cd8a56672
commit
e3d86fee46
@@ -0,0 +1,214 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpiutil;
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import org.junit.jupiter.api.Test;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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class CircularBufferTest {
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private final double[] m_values = {751.848, 766.366, 342.657, 234.252, 716.126,
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132.344, 445.697, 22.727, 421.125, 799.913};
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private final double[] m_addFirstOut = {799.913, 421.125, 22.727, 445.697, 132.344,
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716.126, 234.252, 342.657};
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private final double[] m_addLastOut = {342.657, 234.252, 716.126, 132.344, 445.697,
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22.727, 421.125, 799.913};
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@Test
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void addFirstTest() {
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CircularBuffer queue = new CircularBuffer(8);
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for (double value : m_values) {
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queue.addFirst(value);
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}
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for (int i = 0; i < m_addFirstOut.length; i++) {
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assertEquals(m_addFirstOut[i], queue.get(i), 0.00005);
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}
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}
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@Test
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void addLastTest() {
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CircularBuffer queue = new CircularBuffer(8);
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for (double value : m_values) {
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queue.addLast(value);
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}
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for (int i = 0; i < m_addLastOut.length; i++) {
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assertEquals(m_addLastOut[i], queue.get(i), 0.00005);
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}
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}
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@Test
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void pushPopTest() {
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CircularBuffer queue = new CircularBuffer(3);
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// Insert three elements into the buffer
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queue.addLast(1.0);
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queue.addLast(2.0);
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queue.addLast(3.0);
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assertEquals(1.0, queue.get(0), 0.00005);
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assertEquals(2.0, queue.get(1), 0.00005);
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assertEquals(3.0, queue.get(2), 0.00005);
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/*
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* The buffer is full now, so pushing subsequent elements will overwrite the
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* front-most elements.
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*/
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queue.addLast(4.0); // Overwrite 1 with 4
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// The buffer now contains 2, 3, and 4
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assertEquals(2.0, queue.get(0), 0.00005);
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assertEquals(3.0, queue.get(1), 0.00005);
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assertEquals(4.0, queue.get(2), 0.00005);
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queue.addLast(5.0); // Overwrite 2 with 5
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// The buffer now contains 3, 4, and 5
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assertEquals(3.0, queue.get(0), 0.00005);
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assertEquals(4.0, queue.get(1), 0.00005);
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assertEquals(5.0, queue.get(2), 0.00005);
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assertEquals(5.0, queue.removeLast(), 0.00005); // 5 is removed
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// The buffer now contains 3 and 4
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assertEquals(3.0, queue.get(0), 0.00005);
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assertEquals(4.0, queue.get(1), 0.00005);
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assertEquals(3.0, queue.removeFirst(), 0.00005); // 3 is removed
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// Leaving only one element with value == 4
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assertEquals(4.0, queue.get(0), 0.00005);
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}
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@Test
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void resetTest() {
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CircularBuffer queue = new CircularBuffer(5);
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for (int i = 0; i < 6; i++) {
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queue.addLast(i);
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}
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queue.clear();
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for (int i = 0; i < 5; i++) {
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assertEquals(0.0, queue.get(i), 0.00005);
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}
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}
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@Test
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@SuppressWarnings("PMD.ExcessiveMethodLength")
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void resizeTest() {
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CircularBuffer queue = new CircularBuffer(5);
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/* Buffer contains {1, 2, 3, _, _}
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* ^ front
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*/
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queue.addLast(1.0);
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queue.addLast(2.0);
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queue.addLast(3.0);
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queue.resize(2);
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assertEquals(1.0, queue.get(0), 0.00005);
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assertEquals(2.0, queue.get(1), 0.00005);
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queue.resize(5);
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assertEquals(1.0, queue.get(0), 0.00005);
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assertEquals(2.0, queue.get(1), 0.00005);
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queue.clear();
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/* Buffer contains {_, 1, 2, 3, _}
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* ^ front
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*/
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queue.addLast(0.0);
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queue.addLast(1.0);
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queue.addLast(2.0);
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queue.addLast(3.0);
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queue.removeFirst();
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queue.resize(2);
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assertEquals(1.0, queue.get(0), 0.00005);
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assertEquals(2.0, queue.get(1), 0.00005);
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queue.resize(5);
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assertEquals(1.0, queue.get(0), 0.00005);
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assertEquals(2.0, queue.get(1), 0.00005);
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queue.clear();
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/* Buffer contains {_, _, 1, 2, 3}
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* ^ front
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*/
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queue.addLast(0.0);
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queue.addLast(0.0);
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queue.addLast(1.0);
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queue.addLast(2.0);
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queue.addLast(3.0);
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queue.removeFirst();
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queue.removeFirst();
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queue.resize(2);
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assertEquals(1.0, queue.get(0), 0.00005);
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assertEquals(2.0, queue.get(1), 0.00005);
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queue.resize(5);
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assertEquals(1.0, queue.get(0), 0.00005);
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assertEquals(2.0, queue.get(1), 0.00005);
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queue.clear();
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/* Buffer contains {3, _, _, 1, 2}
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* ^ front
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*/
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queue.addLast(3.0);
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queue.addFirst(2.0);
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queue.addFirst(1.0);
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queue.resize(2);
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assertEquals(1.0, queue.get(0), 0.00005);
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assertEquals(2.0, queue.get(1), 0.00005);
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queue.resize(5);
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assertEquals(1.0, queue.get(0), 0.00005);
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assertEquals(2.0, queue.get(1), 0.00005);
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queue.clear();
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/* Buffer contains {2, 3, _, _, 1}
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* ^ front
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*/
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queue.addLast(2.0);
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queue.addLast(3.0);
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queue.addFirst(1.0);
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queue.resize(2);
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assertEquals(1.0, queue.get(0), 0.00005);
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assertEquals(2.0, queue.get(1), 0.00005);
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queue.resize(5);
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assertEquals(1.0, queue.get(0), 0.00005);
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assertEquals(2.0, queue.get(1), 0.00005);
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// Test addLast() after resize
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queue.addLast(3.0);
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assertEquals(1.0, queue.get(0), 0.00005);
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assertEquals(2.0, queue.get(1), 0.00005);
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assertEquals(3.0, queue.get(2), 0.00005);
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// Test addFirst() after resize
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queue.addFirst(4.0);
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assertEquals(4.0, queue.get(0), 0.00005);
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assertEquals(1.0, queue.get(1), 0.00005);
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assertEquals(2.0, queue.get(2), 0.00005);
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assertEquals(3.0, queue.get(3), 0.00005);
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}
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}
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209
wpiutil/src/test/native/cpp/CircularBufferTest.cpp
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209
wpiutil/src/test/native/cpp/CircularBufferTest.cpp
Normal file
@@ -0,0 +1,209 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "wpi/circular_buffer.h" // NOLINT(build/include_order)
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#include <array>
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#include "gtest/gtest.h"
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static const std::array<double, 10> values = {
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{751.848, 766.366, 342.657, 234.252, 716.126, 132.344, 445.697, 22.727,
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421.125, 799.913}};
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static const std::array<double, 8> pushFrontOut = {
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{799.913, 421.125, 22.727, 445.697, 132.344, 716.126, 234.252, 342.657}};
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static const std::array<double, 8> pushBackOut = {
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{342.657, 234.252, 716.126, 132.344, 445.697, 22.727, 421.125, 799.913}};
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TEST(CircularBufferTest, PushFrontTest) {
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wpi::circular_buffer<double> queue(8);
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for (auto& value : values) {
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queue.push_front(value);
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}
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for (size_t i = 0; i < pushFrontOut.size(); i++) {
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EXPECT_EQ(pushFrontOut[i], queue[i]);
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}
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}
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TEST(CircularBufferTest, PushBackTest) {
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wpi::circular_buffer<double> queue(8);
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for (auto& value : values) {
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queue.push_back(value);
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}
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for (size_t i = 0; i < pushBackOut.size(); i++) {
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EXPECT_EQ(pushBackOut[i], queue[i]);
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}
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}
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TEST(CircularBufferTest, PushPopTest) {
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wpi::circular_buffer<double> queue(3);
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// Insert three elements into the buffer
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queue.push_back(1.0);
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queue.push_back(2.0);
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queue.push_back(3.0);
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EXPECT_EQ(1.0, queue[0]);
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EXPECT_EQ(2.0, queue[1]);
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EXPECT_EQ(3.0, queue[2]);
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/*
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* The buffer is full now, so pushing subsequent elements will overwrite the
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* front-most elements.
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*/
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queue.push_back(4.0); // Overwrite 1 with 4
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// The buffer now contains 2, 3 and 4
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EXPECT_EQ(2.0, queue[0]);
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EXPECT_EQ(3.0, queue[1]);
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EXPECT_EQ(4.0, queue[2]);
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queue.push_back(5.0); // Overwrite 2 with 5
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// The buffer now contains 3, 4 and 5
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EXPECT_EQ(3.0, queue[0]);
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EXPECT_EQ(4.0, queue[1]);
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EXPECT_EQ(5.0, queue[2]);
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EXPECT_EQ(5.0, queue.pop_back()); // 5 is removed
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// The buffer now contains 3 and 4
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EXPECT_EQ(3.0, queue[0]);
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EXPECT_EQ(4.0, queue[1]);
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EXPECT_EQ(3.0, queue.pop_front()); // 3 is removed
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// Leaving only one element with value == 4
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EXPECT_EQ(4.0, queue[0]);
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}
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TEST(CircularBufferTest, ResetTest) {
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wpi::circular_buffer<double> queue(5);
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for (size_t i = 1; i < 6; i++) {
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queue.push_back(i);
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}
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queue.reset();
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for (size_t i = 0; i < 5; i++) {
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EXPECT_EQ(0.0, queue[i]);
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}
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}
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TEST(CircularBufferTest, ResizeTest) {
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wpi::circular_buffer<double> queue(5);
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/* Buffer contains {1, 2, 3, _, _}
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* ^ front
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*/
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queue.push_back(1.0);
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queue.push_back(2.0);
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queue.push_back(3.0);
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queue.resize(2);
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EXPECT_EQ(1.0, queue[0]);
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EXPECT_EQ(2.0, queue[1]);
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queue.resize(5);
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EXPECT_EQ(1.0, queue[0]);
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EXPECT_EQ(2.0, queue[1]);
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queue.reset();
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/* Buffer contains {_, 1, 2, 3, _}
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* ^ front
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*/
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queue.push_back(0.0);
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queue.push_back(1.0);
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queue.push_back(2.0);
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queue.push_back(3.0);
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queue.pop_front();
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queue.resize(2);
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EXPECT_EQ(1.0, queue[0]);
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EXPECT_EQ(2.0, queue[1]);
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queue.resize(5);
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EXPECT_EQ(1.0, queue[0]);
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EXPECT_EQ(2.0, queue[1]);
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queue.reset();
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/* Buffer contains {_, _, 1, 2, 3}
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* ^ front
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*/
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queue.push_back(0.0);
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queue.push_back(0.0);
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queue.push_back(1.0);
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queue.push_back(2.0);
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queue.push_back(3.0);
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queue.pop_front();
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queue.pop_front();
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queue.resize(2);
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EXPECT_EQ(1.0, queue[0]);
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EXPECT_EQ(2.0, queue[1]);
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queue.resize(5);
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EXPECT_EQ(1.0, queue[0]);
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EXPECT_EQ(2.0, queue[1]);
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queue.reset();
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/* Buffer contains {3, _, _, 1, 2}
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* ^ front
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*/
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queue.push_back(3.0);
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queue.push_front(2.0);
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queue.push_front(1.0);
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queue.resize(2);
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EXPECT_EQ(1.0, queue[0]);
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EXPECT_EQ(2.0, queue[1]);
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queue.resize(5);
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EXPECT_EQ(1.0, queue[0]);
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EXPECT_EQ(2.0, queue[1]);
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queue.reset();
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/* Buffer contains {2, 3, _, _, 1}
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* ^ front
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*/
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queue.push_back(2.0);
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queue.push_back(3.0);
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queue.push_front(1.0);
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queue.resize(2);
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EXPECT_EQ(1.0, queue[0]);
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EXPECT_EQ(2.0, queue[1]);
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queue.resize(5);
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EXPECT_EQ(1.0, queue[0]);
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EXPECT_EQ(2.0, queue[1]);
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// Test push_back() after resize
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queue.push_back(3.0);
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EXPECT_EQ(1.0, queue[0]);
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EXPECT_EQ(2.0, queue[1]);
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EXPECT_EQ(3.0, queue[2]);
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// Test push_front() after resize
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queue.push_front(4.0);
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EXPECT_EQ(4.0, queue[0]);
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EXPECT_EQ(1.0, queue[1]);
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EXPECT_EQ(2.0, queue[2]);
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EXPECT_EQ(3.0, queue[3]);
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}
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