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Merged
rahadbhuiya merged 1 commit into from
Nov 5, 2026
Merged

Make Tests Better #31

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90 changes: 0 additions & 90 deletions src/ffi.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -507,93 +507,3 @@ pub unsafe extern "C" fn aegis_fusion4_get_sensor_health(
.sensor_health(sensor_id)
.unwrap_or(Real::NAN)
}

#[cfg(test)]
mod tests {
use super::*;
use core::mem::MaybeUninit;

#[test]
fn test_c_ffi_scalar_filter() {
unsafe {
// Null pointer safety
assert_eq!(
aegis_scalar_filter_init(core::ptr::null_mut(), 0.0, 1.0, 0.01, 0.5),
AegisStatusCode::NullPointer
);

let mut filter = MaybeUninit::<AegisScalarFilter>::uninit();
let status = aegis_scalar_filter_init(filter.as_mut_ptr(), 0.0, 1.0, 0.01, 0.5);
assert_eq!(status, AegisStatusCode::Ok);
let mut filter = filter.assume_init();

let status = aegis_scalar_filter_predict(&mut filter, 0.1);
assert_eq!(status, AegisStatusCode::Ok);

let mut out = 0.0;
let status = aegis_scalar_filter_update(&mut filter, 1.05, 3.0, &mut out);
assert_eq!(status, AegisStatusCode::Ok);
assert!(out > 0.0);
assert!((aegis_scalar_filter_get_state(&filter) - out).abs() < 1e-12);
assert!(aegis_scalar_filter_get_variance(&filter) > 0.0);

// Rejection of adversary spike
let status = aegis_scalar_filter_update(&mut filter, 9999.0, 3.0, &mut out);
assert_eq!(status, AegisStatusCode::MeasurementGated);

// Test fail-closed default gate configuration
let status = aegis_scalar_filter_set_default_gate(&mut filter, 3.0);
assert_eq!(status, AegisStatusCode::Ok);
// Passing 0.0 falls back to configured 3.0 default gate -> rejects spike
let status = aegis_scalar_filter_update(&mut filter, 9999.0, 0.0, &mut out);
assert_eq!(status, AegisStatusCode::MeasurementGated);
// Passing explicit AEGIS_GATE_DISABLE (-1.0) allows through
let status =
aegis_scalar_filter_update(&mut filter, 1.05, AEGIS_GATE_DISABLE, &mut out);
assert_eq!(status, AegisStatusCode::Ok);
}
}

#[test]
fn test_c_ffi_h_infinity_filter() {
unsafe {
let mut hinf = MaybeUninit::<AegisHInfFilter>::uninit();
let status = aegis_h_inf_filter_init(hinf.as_mut_ptr(), 0.0, 1.0, 0.01, 0.5, 5.0);
assert_eq!(status, AegisStatusCode::Ok);
let mut hinf = hinf.assume_init();

let status = aegis_h_inf_filter_predict(&mut hinf, 0.1);
assert_eq!(status, AegisStatusCode::Ok);

let mut out = 0.0;
let status = aegis_h_inf_filter_update(&mut hinf, 1.05, &mut out);
assert_eq!(status, AegisStatusCode::Ok);
assert!(out > 0.0);
assert!(aegis_h_inf_filter_get_bound(&hinf) > 0.0);
}
}

#[test]
fn test_c_ffi_fusion4_and_fdir() {
unsafe {
let mut fusion = MaybeUninit::<AegisFusion4>::uninit();
let status = aegis_fusion4_init(fusion.as_mut_ptr(), 0.0, 1.0, 0.01);
assert_eq!(status, AegisStatusCode::Ok);
let mut fusion = fusion.assume_init();

// Register Sensor 1
let status = aegis_fusion4_register_sensor(&mut fusion, 1, 0.2, 2, 3.0, 2);
assert_eq!(status, AegisStatusCode::Ok);

let status = aegis_fusion4_predict(&mut fusion, 0.5);
assert_eq!(status, AegisStatusCode::Ok);

let mut fusion_status = AegisFusionStatusCode::UnregisteredSensor;
let status = aegis_fusion4_fuse(&mut fusion, 1, 0.52, &mut fusion_status);
assert_eq!(status, AegisStatusCode::Ok);
assert_eq!(fusion_status, AegisFusionStatusCode::Fused);
assert!((aegis_fusion4_get_state(&fusion) - 0.52).abs() < 0.2);
assert_eq!(aegis_fusion4_get_sensor_health(&fusion, 1), 1.0);
}
}
}
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