Skip to content

Commit

Permalink
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Loading
Loading status checks…
Formatting + Address warnings
Browse files Browse the repository at this point in the history
@Samahu
Samahu committed Apr 16, 2024

Verified

This commit was created on GitHub.com and signed with GitHub’s verified signature. The key has expired.
GPG key ID: 4AEE18F83AFDEB23
Expired
Verified
Learn about vigilant mode
1 parent ade5822 commit 4145606
Showing 2 changed files with 69 additions and 69 deletions.
16 changes: 8 additions & 8 deletions ouster-ros/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
@@ -169,14 +169,14 @@ rclcpp_components_register_node(os_driver_component
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
ament_add_gtest(${PROJECT_NAME}_test
src/os_ros.cpp
test/test_main.cpp
test/ring_buffer_test.cpp
test/lock_free_ring_buffer_test.cpp
test/point_accessor_test.cpp
test/point_transform_test.cpp
test/point_cloud_compose_test.cpp
)
src/os_ros.cpp
test/test_main.cpp
test/ring_buffer_test.cpp
test/lock_free_ring_buffer_test.cpp
test/point_accessor_test.cpp
test/point_transform_test.cpp
test/point_cloud_compose_test.cpp
)
ament_target_dependencies(${PROJECT_NAME}_test
rclcpp
ouster_sensor_msgs
122 changes: 61 additions & 61 deletions ouster-ros/test/lock_free_ring_buffer_test.cpp
View file
Original file line number Diff line number Diff line change
@@ -8,7 +8,7 @@ using namespace std::chrono_literals;

class LockFreeRingBufferTest : public ::testing::Test {
protected:
static constexpr int ITEM_COUNT = 3; // number of item the buffer could hold
static constexpr size_t ITEM_COUNT = 3; // number of item the buffer could hold

void SetUp() override {
buffer = std::make_unique<LockFreeRingBuffer>(ITEM_COUNT);
@@ -31,7 +31,7 @@ TEST_F(LockFreeRingBufferTest, ReadWriteToBufferFullEmpty) {
EXPECT_TRUE(buffer->empty());
EXPECT_FALSE(buffer->full());

for (int i = 0; i < ITEM_COUNT - 1; ++i) {
for (size_t i = 0; i < ITEM_COUNT - 1; ++i) {
buffer->write();
}

@@ -44,7 +44,7 @@ TEST_F(LockFreeRingBufferTest, ReadWriteToBufferFullEmpty) {
EXPECT_FALSE(buffer->empty());
EXPECT_FALSE(buffer->full());

for (int i = 1; i < ITEM_COUNT - 1; ++i) {
for (size_t i = 1; i < ITEM_COUNT - 1; ++i) {
buffer->read();
}

@@ -58,7 +58,7 @@ TEST_F(LockFreeRingBufferTest, ReadWriteToBufferCheckReturn) {

EXPECT_TRUE(buffer->empty());

for (int i = 0; i < ITEM_COUNT - 1; ++i) {
for (size_t i = 0; i < ITEM_COUNT - 1; ++i) {
EXPECT_TRUE(buffer->write());
}

@@ -69,7 +69,7 @@ TEST_F(LockFreeRingBufferTest, ReadWriteToBufferCheckReturn) {
EXPECT_TRUE(buffer->read());
EXPECT_TRUE(buffer->write());

for (int i = 0; i < ITEM_COUNT - 1; ++i) {
for (size_t i = 0; i < ITEM_COUNT - 1; ++i) {
EXPECT_TRUE(buffer->read());
}

@@ -85,60 +85,60 @@ TEST_F(LockFreeRingBufferTest, ReadWriteToBufferSizeAvailable) {
EXPECT_TRUE(buffer->empty());
EXPECT_FALSE(buffer->full());

EXPECT_EQ(buffer->size(), 0);
EXPECT_EQ(buffer->available(), 2);
EXPECT_EQ(buffer->write_head(), 0);
EXPECT_EQ(buffer->read_head(), 0);
EXPECT_EQ(buffer->size(), 0U);
EXPECT_EQ(buffer->available(), 2U);
EXPECT_EQ(buffer->write_head(), 0U);
EXPECT_EQ(buffer->read_head(), 0U);

EXPECT_TRUE(buffer->write());
EXPECT_EQ(buffer->size(), 1);
EXPECT_EQ(buffer->available(), 1);
EXPECT_EQ(buffer->write_head(), 1);
EXPECT_EQ(buffer->read_head(), 0);
EXPECT_EQ(buffer->size(), 1U);
EXPECT_EQ(buffer->available(), 1U);
EXPECT_EQ(buffer->write_head(), 1U);
EXPECT_EQ(buffer->read_head(), 0U);

EXPECT_TRUE(buffer->write());
EXPECT_EQ(buffer->size(), 2);
EXPECT_EQ(buffer->available(), 0);
EXPECT_EQ(buffer->write_head(), 2);
EXPECT_EQ(buffer->read_head(), 0);
EXPECT_EQ(buffer->size(), 2U);
EXPECT_EQ(buffer->available(), 0U);
EXPECT_EQ(buffer->write_head(), 2U);
EXPECT_EQ(buffer->read_head(), 0U);

EXPECT_TRUE(buffer->read());
EXPECT_EQ(buffer->size(), 1);
EXPECT_EQ(buffer->available(), 1);
EXPECT_EQ(buffer->write_head(), 2);
EXPECT_EQ(buffer->read_head(), 1);
EXPECT_EQ(buffer->size(), 1U);
EXPECT_EQ(buffer->available(), 1U);
EXPECT_EQ(buffer->write_head(), 2U);
EXPECT_EQ(buffer->read_head(), 1U);

EXPECT_TRUE(buffer->write());
EXPECT_EQ(buffer->size(), 2);
EXPECT_EQ(buffer->available(), 0);
EXPECT_EQ(buffer->write_head(), 0);
EXPECT_EQ(buffer->read_head(), 1);
EXPECT_EQ(buffer->size(), 2U);
EXPECT_EQ(buffer->available(), 0U);
EXPECT_EQ(buffer->write_head(), 0U);
EXPECT_EQ(buffer->read_head(), 1U);

// Next write should fail, so size shouldn't change
EXPECT_FALSE(buffer->write());
EXPECT_EQ(buffer->size(), 2);
EXPECT_EQ(buffer->available(), 0);
EXPECT_EQ(buffer->write_head(), 0);
EXPECT_EQ(buffer->read_head(), 1);
EXPECT_EQ(buffer->size(), 2U);
EXPECT_EQ(buffer->available(), 0U);
EXPECT_EQ(buffer->write_head(), 0U);
EXPECT_EQ(buffer->read_head(), 1U);

EXPECT_TRUE(buffer->read());
EXPECT_EQ(buffer->size(), 1);
EXPECT_EQ(buffer->available(), 1);
EXPECT_EQ(buffer->write_head(), 0);
EXPECT_EQ(buffer->read_head(), 2);
EXPECT_EQ(buffer->size(), 1U);
EXPECT_EQ(buffer->available(), 1U);
EXPECT_EQ(buffer->write_head(), 0U);
EXPECT_EQ(buffer->read_head(), 2U);

EXPECT_TRUE(buffer->read());
EXPECT_EQ(buffer->size(), 0);
EXPECT_EQ(buffer->available(), 2);
EXPECT_EQ(buffer->write_head(), 0);
EXPECT_EQ(buffer->read_head(), 0);
EXPECT_EQ(buffer->size(), 0U);
EXPECT_EQ(buffer->available(), 2U);
EXPECT_EQ(buffer->write_head(), 0U);
EXPECT_EQ(buffer->read_head(), 0U);

// Next read should fail, so size shouldn't change
EXPECT_FALSE(buffer->read());
EXPECT_EQ(buffer->size(), 0);
EXPECT_EQ(buffer->available(), 2);
EXPECT_EQ(buffer->write_head(), 0);
EXPECT_EQ(buffer->read_head(), 0);
EXPECT_EQ(buffer->size(), 0U);
EXPECT_EQ(buffer->available(), 2U);
EXPECT_EQ(buffer->write_head(), 0U);
EXPECT_EQ(buffer->read_head(), 0U);
}

TEST_F(LockFreeRingBufferTest, ReadWriteToBufferAdvanceMultiple) {
@@ -148,46 +148,46 @@ TEST_F(LockFreeRingBufferTest, ReadWriteToBufferAdvanceMultiple) {
EXPECT_TRUE(buffer->empty());
EXPECT_FALSE(buffer->full());

EXPECT_EQ(buffer->size(), 0);
EXPECT_EQ(buffer->available(), 2);
EXPECT_EQ(buffer->size(), 0U);
EXPECT_EQ(buffer->available(), 2U);

EXPECT_TRUE(buffer->write(2));
EXPECT_EQ(buffer->size(), 2);
EXPECT_EQ(buffer->available(), 0);
EXPECT_EQ(buffer->size(), 2U);
EXPECT_EQ(buffer->available(), 0U);

// This write should fail since we advance beyond capacity, so size shouldn't change
EXPECT_FALSE(buffer->write(2));
EXPECT_EQ(buffer->size(), 2);
EXPECT_EQ(buffer->available(), 0);
EXPECT_EQ(buffer->size(), 2U);
EXPECT_EQ(buffer->available(), 0U);

EXPECT_TRUE(buffer->read());
EXPECT_EQ(buffer->size(), 1);
EXPECT_EQ(buffer->available(), 1);
EXPECT_EQ(buffer->size(), 1U);
EXPECT_EQ(buffer->available(), 1U);

EXPECT_TRUE(buffer->read());
EXPECT_EQ(buffer->size(), 0);
EXPECT_EQ(buffer->available(), 2);
EXPECT_EQ(buffer->size(), 0U);
EXPECT_EQ(buffer->available(), 2U);

EXPECT_TRUE(buffer->write(2));
EXPECT_EQ(buffer->size(), 2);
EXPECT_EQ(buffer->available(), 0);
EXPECT_EQ(buffer->size(), 2U);
EXPECT_EQ(buffer->available(), 0U);

// Any additional write will also fail, size shouldn't change
EXPECT_FALSE(buffer->write());
EXPECT_EQ(buffer->size(), 2);
EXPECT_EQ(buffer->available(), 0);
EXPECT_EQ(buffer->size(), 2U);
EXPECT_EQ(buffer->available(), 0U);

EXPECT_TRUE(buffer->read(2));
EXPECT_EQ(buffer->size(), 0);
EXPECT_EQ(buffer->available(), 2);
EXPECT_EQ(buffer->size(), 0U);
EXPECT_EQ(buffer->available(), 2U);

// This read should fail since we advance beyond available, so size shouldn't change
EXPECT_FALSE(buffer->read(2));
EXPECT_EQ(buffer->size(), 0);
EXPECT_EQ(buffer->available(), 2);
EXPECT_EQ(buffer->size(), 0U);
EXPECT_EQ(buffer->available(), 2U);

// Any subsequent read will also fail, size shouldn't change
EXPECT_FALSE(buffer->read());
EXPECT_EQ(buffer->size(), 0);
EXPECT_EQ(buffer->available(), 2);
EXPECT_EQ(buffer->size(), 0U);
EXPECT_EQ(buffer->available(), 2U);
}

0 comments on commit 4145606

Please sign in to comment.