queue tests

rtlopez · Dec 8, 2023 · b699253 · b699253
1 parent f41ab81
commit b699253
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Showing 3 changed files with 67 additions and 3 deletions.
diff --git a/lib/Espfc/src/Target/QueueAtomic.cpp b/lib/Espfc/src/Target/QueueAtomic.cpp
@@ -20,7 +20,6 @@ void Queue::send(const Event& e)
 Event Queue::receive()
 {
   Event e;
-  //while(!_q.pop(e));
   _q.pop(e);
   return e;
 }

diff --git a/lib/Espfc/src/Target/QueueAtomic.h b/lib/Espfc/src/Target/QueueAtomic.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#if defined(ESPFC_ATOMIC_QUEUE)
+#if defined(ESPFC_ATOMIC_QUEUE) || defined(UNIT_TEST)
 
 #include <atomic>
 
@@ -12,7 +12,7 @@ class QueueAtomic
 public:
   enum { Capacity = Size + 1 };
 
-  QueueAtomic(): _tail(0), _head(0){}   
+  QueueAtomic(): _tail(0), _head(0) {}
   ~QueueAtomic() {}
 
   bool push(const Element& item)

diff --git a/test/test_math/test_math.cpp b/test/test_math/test_math.cpp
@@ -5,6 +5,7 @@
 #include "helper_3dmath.h"
 #include "Filter.h"
 #include "Control/Pid.h"
+#include "Target/QueueAtomic.h"
 
 // void setUp(void) {
 // // set stuff up here
@@ -970,6 +971,68 @@ void test_pid_update_sum_limit()
     TEST_ASSERT_FLOAT_WITHIN(0.001f, 1.0f, result);
 }
 
+void test_queue_atomic()
+{
+    QueueAtomic<int, 3> q;
+    int e1 =  1, e2 =  2, e3 =  3, e4 =  4;
+    int r1 = 91, r2 = 92, r3 = 93, r4 = 94;
+
+    // empty
+    TEST_ASSERT_TRUE(q.isEmpty());
+    TEST_ASSERT_FALSE(q.isFull());
+
+    TEST_ASSERT_FALSE(q.pop(r1));
+    TEST_ASSERT_EQUAL(91, r1);
+
+    TEST_ASSERT_TRUE(q.isEmpty());
+    TEST_ASSERT_FALSE(q.isFull());
+
+    // push first element
+    TEST_ASSERT_TRUE(q.push(e1));
+
+    TEST_ASSERT_FALSE(q.isEmpty());
+    TEST_ASSERT_FALSE(q.isFull());
+
+    // pop last element
+    TEST_ASSERT_TRUE(q.pop(r1));
+    TEST_ASSERT_EQUAL(1, r1);
+
+    TEST_ASSERT_TRUE(q.isEmpty());
+    TEST_ASSERT_FALSE(q.isFull());
+
+    // pop element again
+    TEST_ASSERT_FALSE(q.pop(r1));
+    TEST_ASSERT_EQUAL(1, r1);
+
+    TEST_ASSERT_TRUE(q.isEmpty());
+    TEST_ASSERT_FALSE(q.isFull());
+
+    // make full
+    TEST_ASSERT_TRUE(q.push(e1));
+    TEST_ASSERT_TRUE(q.push(e2));
+    TEST_ASSERT_TRUE(q.push(e3));
+    TEST_ASSERT_FALSE(q.push(e4));
+
+    TEST_ASSERT_FALSE(q.isEmpty());
+    TEST_ASSERT_TRUE(q.isFull());
+
+    // make empty
+    TEST_ASSERT_TRUE(q.pop(r1));
+    TEST_ASSERT_EQUAL(1, r1);
+
+    TEST_ASSERT_TRUE(q.pop(r2));
+    TEST_ASSERT_EQUAL(2, r2);
+
+    TEST_ASSERT_TRUE(q.pop(r3));
+    TEST_ASSERT_EQUAL(3, r3);
+
+    TEST_ASSERT_FALSE(q.pop(r4));
+    TEST_ASSERT_EQUAL(94, r4);
+
+    TEST_ASSERT_TRUE(q.isEmpty());
+    TEST_ASSERT_FALSE(q.isFull());
+}
+
 int main(int argc, char **argv)
 {
     UNITY_BEGIN();
@@ -1035,6 +1098,8 @@ int main(int argc, char **argv)
     RUN_TEST(test_pid_update_sum);
     RUN_TEST(test_pid_update_sum_limit);
 
+    RUN_TEST(test_queue_atomic);
+
     UNITY_END();
 
     return 0;