Project: engagement_recognition License: BSD Dependencies: engagement_msgs engagement_srvs roscpp Used by: None All Packages

engagement_recognition/test/statistics/timeline_test.cpp Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #include <gtest/gtest.h> #include "../src/recognition/lib/engagement_macros.h" #include "../src/recognition/statistics/timeline.h" #include "../src/recognition/lib/engagement_params.h" TEST(TimelineTestSuite, testConstructor) { Timeline time = Timeline(); EXPECT_EQ(0, time.getFailureRate()); EXPECT_EQ(0, time.getMaxDelay()); EXPECT_EQ(0, time.getMaxDuration()); EXPECT_EQ(0, time.getMaxTBCE()); EXPECT_EQ(0, time.getMeanDelay()); EXPECT_EQ(0, time.getMeanDuration()); EXPECT_EQ(0, time.getMeanTBCE()); EXPECT_EQ(0, time.getRecentFailureRate()); EXPECT_EQ(0, time.getRecentMaxDelay()); EXPECT_EQ(0, time.getRecentMaxDuration()); EXPECT_EQ(0, time.getRecentMaxTBCE()); EXPECT_EQ(0, time.getRecentMeanDelay()); EXPECT_EQ(0, time.getRecentMeanDuration()); EXPECT_EQ(0, time.getRecentMeanTBCE()); } TEST(TimelineTestSuite, testWindowSize) { Timeline time = Timeline(); double default_size = 5.0; // Grab the conf node handle ros::NodeHandle *conf = EngagementParams::getConfHandle(); // Load the default size from the param server if (conf) conf->param(engagement::WINDOW_SIZE_PARAM, default_size, (double)5.0); EXPECT_EQ(default_size, time.getWindowSize()); time.setWindowSize(1000); EXPECT_EQ(1000, time.getWindowSize()); time.setWindowSize(-1000); EXPECT_EQ(1000, time.getWindowSize()); time.setWindowSize(0); EXPECT_EQ(0, time.getWindowSize()); time.setWindowSize(9999999); EXPECT_EQ(9999999, time.getWindowSize()); } TEST(TimelineTestSuite, testAddEvent) { bool run_test = true; double default_size = 5.0; // Grab the conf node handle ros::NodeHandle *conf = EngagementParams::getConfHandle(); // Attempt to grab the param from the server if (conf) conf->param("run_sleep_tests", run_test, true); // Do not run the below tests if the param is false if (!run_test) return; Timeline time = Timeline(); int threshold = 2; // Load the default size from the param server if (conf) conf->param(engagement::WINDOW_SIZE_PARAM, default_size, (double)5.0); EXPECT_EQ(default_size, time.getWindowSize()); // The following test cases were written for a window size of 10.0 seconds if (time.getWindowSize() == 10.0) { // Add the event time.addEvent("DG", true, CURRENT_TIME, 1000, 5000); EXPECT_TRUE(abs(time.getMeanTBCE() - 0) <= threshold); EXPECT_TRUE(abs(time.getMaxTBCE() - 0) <= threshold); EXPECT_TRUE(abs(time.getMeanDelay() - 1000) <= threshold); EXPECT_TRUE(abs(time.getMaxDelay() - 1000) <= threshold); EXPECT_TRUE(abs(time.getMeanDuration() - 5000) <= threshold); EXPECT_TRUE(abs(time.getMaxDuration() - 5000) <= threshold); EXPECT_EQ(0, time.getFailureRate()); EXPECT_TRUE(abs(time.getRecentMeanTBCE() - 0) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxTBCE() - 0) <= threshold); EXPECT_TRUE(abs(time.getRecentMeanDelay() - 1000) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxDelay() - 1000) <= threshold); EXPECT_TRUE(abs(time.getRecentMeanDuration() - 5000) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxDuration() - 5000) <= threshold); EXPECT_EQ(0, time.getRecentFailureRate()); // Sleep for ten seconds printf("Sleeping for ten seconds...\n"); sleep(10); // Add the event time.addEvent("MFG", true, CURRENT_TIME, 3000, 7000); EXPECT_TRUE(abs(time.getMeanTBCE() - 10000) <= threshold); EXPECT_TRUE(abs(time.getMaxTBCE() - 10000) <= threshold); EXPECT_TRUE(abs(time.getMeanDelay() - 2000) <= threshold); EXPECT_TRUE(abs(time.getMaxDelay() - 3000) <= threshold); EXPECT_TRUE(abs(time.getMeanDuration() - 6000) <= threshold); EXPECT_TRUE(abs(time.getMaxDuration() - 7000) <= threshold); EXPECT_EQ(0, time.getFailureRate() - 0); EXPECT_TRUE(abs(time.getRecentMeanTBCE() - 0) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxTBCE() - 0) <= threshold); EXPECT_TRUE(abs(time.getRecentMeanDelay() - 3000) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxDelay() - 3000) <= threshold); EXPECT_TRUE(abs(time.getRecentMeanDuration() - 7000) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxDuration() - 7000) <= threshold); EXPECT_EQ(0, time.getRecentFailureRate() - 0); // Sleep for five seconds printf("Sleeping for five seconds...\n"); sleep(3); // Add the event time.addEvent("AP", false, CURRENT_TIME, 8000, 8000); EXPECT_TRUE(abs(time.getMeanTBCE() - 6500) <= threshold); EXPECT_TRUE(abs(time.getMaxTBCE() - 10000) <= threshold); EXPECT_TRUE(abs(time.getMeanDelay() - 4000) <= threshold); EXPECT_TRUE(abs(time.getMaxDelay() - 8000) <= threshold); EXPECT_TRUE(abs(time.getMeanDuration() - 6666) <= threshold); EXPECT_TRUE(abs(time.getMaxDuration() - 8000) <= threshold); EXPECT_EQ(4, time.getFailureRate()); EXPECT_TRUE(abs(time.getRecentMeanTBCE() - 0) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxTBCE() - 0) <= threshold); EXPECT_TRUE(abs(time.getRecentMeanDelay() - 5500) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxDelay() - 8000) <= threshold); EXPECT_TRUE(abs(time.getRecentMeanDuration() - 7500) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxDuration() - 8000) <= threshold); EXPECT_EQ(6, time.getRecentFailureRate()); // Sleep for five more seconds printf("Sleeping for five seconds...\n"); sleep(5); // Add the event time.addEvent("DG", false, CURRENT_TIME, 0, 500); EXPECT_TRUE(abs(time.getMeanTBCE() - 6000) <= threshold); EXPECT_TRUE(abs(time.getMaxTBCE() - 10000) <= threshold); EXPECT_TRUE(abs(time.getMeanDelay() - 3000) <= threshold); EXPECT_TRUE(abs(time.getMaxDelay() - 8000) <= threshold); EXPECT_TRUE(abs(time.getMeanDuration() - 5125) <= threshold); EXPECT_TRUE(abs(time.getMaxDuration() - 8000) <= threshold); EXPECT_EQ(6, time.getFailureRate()); EXPECT_TRUE(abs(time.getRecentMeanTBCE() - 0) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxTBCE() - 0) <= threshold); EXPECT_TRUE(abs(time.getRecentMeanDelay() - 3666) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxDelay() - 8000) <= threshold); EXPECT_TRUE(abs(time.getRecentMeanDuration() - 5166) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxDuration() - 8000) <= threshold); EXPECT_EQ(12, time.getRecentFailureRate()); // Sleep for five more seconds printf("Sleeping for five seconds...\n"); sleep(5); // Add the event (BC events CANNOT FAIL) time.addEvent("BC", true, CURRENT_TIME, 0, 100); EXPECT_TRUE(abs(time.getMeanTBCE() - 5750) <= threshold); EXPECT_TRUE(abs(time.getMaxTBCE() - 10000) <= threshold); EXPECT_TRUE(abs(time.getMeanDelay() - 3000) <= threshold); EXPECT_TRUE(abs(time.getMaxDelay() - 8000) <= threshold); EXPECT_TRUE(abs(time.getMeanDuration() - 4120) <= threshold); EXPECT_TRUE(abs(time.getMaxDuration() - 8000) <= threshold); EXPECT_EQ(5, time.getFailureRate()); EXPECT_TRUE(abs(time.getRecentMeanTBCE() - 5000) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxTBCE() - 5000) <= threshold); EXPECT_TRUE(abs(time.getRecentMeanDelay() - 0) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxDelay() - 0) <= threshold); EXPECT_TRUE(abs(time.getRecentMeanDuration() - 300) <= threshold); EXPECT_TRUE(abs(time.getRecentMaxDuration() - 500) <= threshold); EXPECT_EQ(6, time.getRecentFailureRate()); } else ROS_WARN("testAddEvent will fail unless window size is 10.0"); }

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engagement_recognition
Author(s): Brett Ponsler (bponsler (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:48 2011