Ashin Walpola
0e9525162d
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
121 lines
3.9 KiB
C++
121 lines
3.9 KiB
C++
#include <gtest/gtest.h>
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#include <vanetza/common/manual_runtime.hpp>
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#include <vanetza/dcc/limeric.hpp>
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using namespace vanetza;
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using namespace vanetza::dcc;
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using std::chrono::milliseconds;
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namespace vanetza {
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void PrintTo(const UnitInterval& cl, std::ostream* os) { *os << cl.value(); }
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}
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class LimericTest : public ::testing::Test
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{
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public:
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LimericTest() : runtime(Clock::time_point { milliseconds(567) }), limeric(runtime) {}
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ManualRuntime runtime;
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Limeric limeric;
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};
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TEST_F(LimericTest, init)
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{
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EXPECT_EQ(ChannelLoad { 0.0 }, limeric.average_cbr());
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EXPECT_EQ(UnitInterval { 0.0153 }, limeric.permitted_duty_cycle());
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}
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TEST_F(LimericTest, average_cbr_only_measured)
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{
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limeric.update_cbr(ChannelLoad { 0.2 });
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EXPECT_EQ(ChannelLoad { 0.2 }, limeric.average_cbr());
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limeric.update_cbr(ChannelLoad { 0.4 });
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EXPECT_EQ(ChannelLoad { 0.3 }, limeric.average_cbr());
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// now internal buffer filled up, 0.3 is assumed to be "previous" average
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limeric.update_cbr(ChannelLoad { 0.6 });
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EXPECT_EQ(ChannelLoad { 0.4 }, limeric.average_cbr());
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// previous average changes only at update cycle if buffer is full
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limeric.update_cbr(ChannelLoad { 0.6 });
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EXPECT_EQ(ChannelLoad { 0.45 }, limeric.average_cbr());
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}
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TEST_F(LimericTest, average_cbr_with_cycle)
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{
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limeric.update_cbr(ChannelLoad { 0.3 });
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limeric.update_cbr(ChannelLoad { 0.4 });
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EXPECT_EQ(ChannelLoad { 0.35 }, limeric.average_cbr());
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runtime.trigger(milliseconds(200));
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// internal average is set to 0.35 now
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EXPECT_EQ(ChannelLoad { 0.35 }, limeric.average_cbr());
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limeric.update_cbr(ChannelLoad { 0.2 });
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EXPECT_EQ(ChannelLoad { 0.325}, limeric.average_cbr());
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limeric.update_cbr(ChannelLoad { 0.1 });
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EXPECT_EQ(ChannelLoad { 0.25 }, limeric.average_cbr());
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limeric.update_cbr(ChannelLoad { 0.1 });
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EXPECT_EQ(ChannelLoad { 0.225 }, limeric.average_cbr());
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runtime.trigger(milliseconds(200));
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// internal average is set to 0.225 now
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EXPECT_EQ(ChannelLoad { 0.1625 }, limeric.average_cbr());
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limeric.update_cbr(ChannelLoad { 0.3 });
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limeric.update_cbr(ChannelLoad { 0.5 });
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EXPECT_EQ(ChannelLoad { 0.3125 }, limeric.average_cbr());
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}
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TEST_F(LimericTest, scheduling)
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{
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unsigned invocation_count = 0;
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limeric.on_duty_cycle_change = [&](const Limeric* limeric_on_change, Clock::time_point tp) {
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EXPECT_EQ(&limeric, limeric_on_change);
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// expectation: on_duty_cycle_change invocactions exactly at 200ms boundaries
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EXPECT_EQ(milliseconds(0), tp.time_since_epoch() % milliseconds(200));
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++invocation_count;
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};
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// start at 567 ms, expected first invocation at 800 ms
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runtime.trigger(milliseconds(200)); // 767 ms
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EXPECT_EQ(0, invocation_count);
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runtime.trigger(milliseconds(50)); // 817 ms
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EXPECT_EQ(1, invocation_count);
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runtime.trigger(milliseconds(100)); // 917 ms
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EXPECT_EQ(1, invocation_count);
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runtime.trigger(milliseconds(50)); // 967 ms
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EXPECT_EQ(1, invocation_count);
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runtime.trigger(milliseconds(33)); // 1000 ms
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EXPECT_EQ(2, invocation_count);
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}
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TEST_F(LimericTest, dual_alpha)
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{
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Limeric::DualAlphaParameters dual_params;
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Limeric limeric_dual(runtime);
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limeric_dual.configure_dual_alpha(dual_params);
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auto update_cbr = [&](double cbr) {
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limeric.update_cbr(ChannelLoad { cbr });
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limeric_dual.update_cbr(ChannelLoad { cbr });
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};
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// set average CBR to 0.8
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update_cbr(0.8);
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update_cbr(0.8);
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EXPECT_EQ(limeric.permitted_duty_cycle(), limeric_dual.permitted_duty_cycle());
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runtime.trigger(milliseconds(200));
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EXPECT_EQ(limeric.permitted_duty_cycle(), limeric_dual.permitted_duty_cycle());
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// Limeric with dual-alpha is expected to converge earlier towards target CBR
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for (int i = 0; i < 30; ++i) {
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runtime.trigger(milliseconds(200));
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}
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EXPECT_GT(limeric.permitted_duty_cycle(), limeric_dual.permitted_duty_cycle());
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}
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