test(rate_checker): add unit tests (#269)

* test(rate_checker): add unit tests Signed-off-by: Max SCHMELLER <[email protected]> * chore: add license to unit test Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]> --------- Signed-off-by: Max SCHMELLER <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
tier4 · Feb 18, 2025 · 8efeaf0 · 8efeaf0
1 parent edac135
commit 8efeaf0
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Showing 4 changed files with 86 additions and 6 deletions.
diff --git a/nebula_common/CMakeLists.txt b/nebula_common/CMakeLists.txt
@@ -21,7 +21,15 @@ endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
 
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
+    find_package(ament_cmake_gtest REQUIRED)
     ament_lint_auto_find_test_dependencies()
+
+    ament_add_gtest(test_rate_checker
+        test/test_rate_checker.cpp
+    )
+    target_link_libraries(test_rate_checker
+        nebula_common
+    )
 endif()
 
 include_directories(

diff --git a/nebula_common/include/nebula_common/util/rate_checker.hpp b/nebula_common/include/nebula_common/util/rate_checker.hpp
@@ -16,6 +16,8 @@
 
 #include "nebula_common/util/ring_buffer.hpp"
 
+#include <optional>
+
 namespace nebula::util
 {
 
@@ -27,7 +29,7 @@ class RateChecker
   {
   }
 
-  bool is_full() const { return ring_buffer_.is_full(); }
+  [[nodiscard]] bool is_full() const { return ring_buffer_.is_full(); }
 
   void update(double stamp)
   {
@@ -38,13 +40,14 @@ class RateChecker
     last_stamp_ = stamp;
   }
 
-  bool is_valid() const
+  [[nodiscard]] bool is_valid() const
   {
+    if (ring_buffer_.size() == 0) return false;
     double average = get_average();
     return average >= min_rate_hz_ && average <= max_rate_hz_;
   }
 
-  double get_average() const { return 1.0 / ring_buffer_.get_average(); }
+  [[nodiscard]] double get_average() const { return 1.0 / ring_buffer_.get_average(); }
 
 private:
   std::optional<double> last_stamp_;

diff --git a/nebula_common/include/nebula_common/util/ring_buffer.hpp b/nebula_common/include/nebula_common/util/ring_buffer.hpp
@@ -40,11 +40,17 @@ class RingBuffer
     index_ = (index_ + 1) % buffer_.capacity();
   }
 
-  std::size_t size() const { return buffer_.size(); }
+  [[nodiscard]] std::size_t size() const { return buffer_.size(); }
 
-  bool is_full() const { return buffer_.size() == buffer_.capacity(); }
+  [[nodiscard]] bool is_full() const { return buffer_.size() == buffer_.capacity(); }
 
-  T get_average() const { return sum_ / buffer_.size(); }
+  [[nodiscard]] T get_average() const
+  {
+    if (buffer_.size() == 0) {
+      throw std::runtime_error("Buffer is empty");
+    }
+    return sum_ / buffer_.size();
+  }
 
 private:
   T sum_{};

diff --git a/nebula_common/test/test_rate_checker.cpp b/nebula_common/test/test_rate_checker.cpp
@@ -0,0 +1,63 @@
+// Copyright 2025 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "nebula_common/util/rate_checker.hpp"
+
+#include <gtest/gtest.h>
+
+static void feed_at_rate(nebula::util::RateChecker & checker, double rate_hz, uint32_t num_updates)
+{
+  double interval = 1.0 / rate_hz;
+  for (uint32_t i = 0; i < num_updates; ++i) {
+    checker.update(i * interval);
+  }
+}
+
+TEST(RateCheckerTest, BasicFunctionality)
+{
+  nebula::util::RateChecker checker(8.0, 12.0, 5);
+
+  EXPECT_FALSE(checker.is_full());
+  EXPECT_FALSE(checker.is_valid());
+  EXPECT_THROW(static_cast<void>(checker.get_average()), std::runtime_error);
+
+  feed_at_rate(checker, 10.0, 6);
+
+  EXPECT_TRUE(checker.is_full());
+  EXPECT_NO_THROW(static_cast<void>(checker.get_average()));
+  EXPECT_NEAR(checker.get_average(), 10.0, 0.1);
+  EXPECT_TRUE(checker.is_valid());
+}
+
+TEST(RateCheckerTest, InvalidRate)
+{
+  nebula::util::RateChecker checker(8.0, 12.0, 3);
+
+  feed_at_rate(checker, 5.0, 4);
+
+  EXPECT_NEAR(checker.get_average(), 5.0, 0.1);
+  EXPECT_FALSE(checker.is_valid());
+
+  checker = nebula::util::RateChecker(8.0, 12.0, 3);
+  feed_at_rate(checker, 15.0, 4);
+
+  EXPECT_NEAR(checker.get_average(), 15.0, 0.1);
+  EXPECT_FALSE(checker.is_valid());
+}
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}