Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibcIntegrationTests/src/CircularBufferTest.cpp b/wpilibcIntegrationTests/src/CircularBufferTest.cpp
new file mode 100644
index 0000000..24b00a9
--- /dev/null
+++ b/wpilibcIntegrationTests/src/CircularBufferTest.cpp
@@ -0,0 +1,211 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2015-2017. 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 "CircularBuffer.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) {
+ CircularBuffer<double> queue(8);
+
+ for (auto& value : values) {
+ queue.PushFront(value);
+ }
+
+ for (size_t i = 0; i < pushFrontOut.size(); i++) {
+ EXPECT_EQ(pushFrontOut[i], queue[i]);
+ }
+}
+
+TEST(CircularBufferTest, PushBackTest) {
+ CircularBuffer<double> queue(8);
+
+ for (auto& value : values) {
+ queue.PushBack(value);
+ }
+
+ for (size_t i = 0; i < pushBackOut.size(); i++) {
+ EXPECT_EQ(pushBackOut[i], queue[i]);
+ }
+}
+
+TEST(CircularBufferTest, PushPopTest) {
+ CircularBuffer<double> queue(3);
+
+ // Insert three elements into the buffer
+ queue.PushBack(1.0);
+ queue.PushBack(2.0);
+ queue.PushBack(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.PushBack(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.PushBack(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.PopBack()); // 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.PopFront()); // 3 is removed
+
+ // Leaving only one element with value == 4
+ EXPECT_EQ(4.0, queue[0]);
+}
+
+TEST(CircularBufferTest, ResetTest) {
+ CircularBuffer<double> queue(5);
+
+ for (size_t i = 1; i < 6; i++) {
+ queue.PushBack(i);
+ }
+
+ queue.Reset();
+
+ for (size_t i = 0; i < 5; i++) {
+ EXPECT_EQ(0.0, queue[i]);
+ }
+}
+
+TEST(CircularBufferTest, ResizeTest) {
+ CircularBuffer<double> queue(5);
+
+ /* Buffer contains {1, 2, 3, _, _}
+ * ^ front
+ */
+ queue.PushBack(1.0);
+ queue.PushBack(2.0);
+ queue.PushBack(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.PushBack(0.0);
+ queue.PushBack(1.0);
+ queue.PushBack(2.0);
+ queue.PushBack(3.0);
+ queue.PopFront();
+
+ 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.PushBack(0.0);
+ queue.PushBack(0.0);
+ queue.PushBack(1.0);
+ queue.PushBack(2.0);
+ queue.PushBack(3.0);
+ queue.PopFront();
+ queue.PopFront();
+
+ 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.PushBack(3.0);
+ queue.PushFront(2.0);
+ queue.PushFront(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.PushBack(2.0);
+ queue.PushBack(3.0);
+ queue.PushFront(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 PushBack() after resize
+ queue.PushBack(3.0);
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+ EXPECT_EQ(3.0, queue[2]);
+
+ // Test PushFront() after resize
+ queue.PushFront(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]);
+}