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Diffstat (limited to 'test/newton_fit.c')
| -rw-r--r-- | test/newton_fit.c | 140 |
1 files changed, 0 insertions, 140 deletions
diff --git a/test/newton_fit.c b/test/newton_fit.c deleted file mode 100644 index 9648fbfd9a..0000000000 --- a/test/newton_fit.c +++ /dev/null @@ -1,140 +0,0 @@ -/* Copyright 2020 The Chromium OS Authors. All rights reserved. - * Use of this source code is governed by a BSD-style license that can be - * found in the LICENSE file. - */ - -#include "common.h" -#include "newton_fit.h" -#include "motion_sense.h" -#include "test_util.h" -#include <stdio.h> - -/* - * Need to define motion sensor globals just to compile. - * We include motion task to force the inclusion of math_util.c - */ -struct motion_sensor_t motion_sensors[] = {}; -const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); - -#define ACC(FIT, X, Y, Z, EXPECTED) \ - TEST_EQ(newton_fit_accumulate(FIT, X, Y, Z), EXPECTED, "%d") - -static int test_newton_fit_reset(void) -{ - struct newton_fit fit = NEWTON_FIT(4, 15, 0.01f, 0.25f, 1.0e-8f, 100); - - newton_fit_reset(&fit); - newton_fit_accumulate(&fit, 1.0f, 0.0f, 0.0f); - TEST_EQ(queue_count(fit.orientations), (size_t)1, "%zu"); - newton_fit_reset(&fit); - - TEST_EQ(queue_count(fit.orientations), (size_t)0, "%zu"); - - return EC_SUCCESS; -} - -static int test_newton_fit_accumulate(void) -{ - struct newton_fit fit = NEWTON_FIT(4, 15, 0.01f, 0.25f, 1.0e-8f, 100); - struct queue_iterator it; - - newton_fit_reset(&fit); - newton_fit_accumulate(&fit, 1.0f, 0.0f, 0.0f); - - TEST_EQ(queue_count(fit.orientations), (size_t)1, "%zu"); - queue_begin(fit.orientations, &it); - TEST_EQ(((struct newton_fit_orientation *)it.ptr)->nsamples, 1, "%u"); - - return EC_SUCCESS; -} - -static int test_newton_fit_accumulate_merge(void) -{ - struct newton_fit fit = NEWTON_FIT(4, 15, 0.01f, 0.25f, 1.0e-8f, 100); - struct queue_iterator it; - - newton_fit_reset(&fit); - newton_fit_accumulate(&fit, 1.0f, 0.0f, 0.0f); - newton_fit_accumulate(&fit, 1.05f, 0.0f, 0.0f); - - TEST_EQ(queue_count(fit.orientations), (size_t)1, "%zu"); - queue_begin(fit.orientations, &it); - TEST_EQ(((struct newton_fit_orientation *)it.ptr)->nsamples, 2, "%u"); - - return EC_SUCCESS; -} - -static int test_newton_fit_accumulate_prune(void) -{ - struct newton_fit fit = NEWTON_FIT(4, 15, 0.01f, 0.25f, 1.0e-8f, 100); - struct queue_iterator it; - - newton_fit_reset(&fit); - newton_fit_accumulate(&fit, 1.0f, 0.0f, 0.0f); - newton_fit_accumulate(&fit, -1.0f, 0.0f, 0.0f); - newton_fit_accumulate(&fit, 0.0f, 1.0f, 0.0f); - newton_fit_accumulate(&fit, 0.0f, -1.0f, 0.0f); - - TEST_EQ(queue_is_full(fit.orientations), 1, "%d"); - queue_begin(fit.orientations, &it); - TEST_EQ(((struct newton_fit_orientation *)it.ptr)->nsamples, 1, "%u"); - queue_next(fit.orientations, &it); - TEST_EQ(((struct newton_fit_orientation *)it.ptr)->nsamples, 1, "%u"); - queue_next(fit.orientations, &it); - TEST_EQ(((struct newton_fit_orientation *)it.ptr)->nsamples, 1, "%u"); - queue_next(fit.orientations, &it); - TEST_EQ(((struct newton_fit_orientation *)it.ptr)->nsamples, 1, "%u"); - - newton_fit_accumulate(&fit, 0.0f, 0.0f, 1.0f); - TEST_EQ(queue_is_full(fit.orientations), 0, "%d"); - - return EC_SUCCESS; -} - -static int test_newton_fit_calculate(void) -{ - struct newton_fit fit = NEWTON_FIT(4, 3, 0.01f, 0.25f, 1.0e-8f, 100); - floatv3_t bias; - float radius; - - newton_fit_reset(&fit); - - ACC(&fit, 1.01f, 0.01f, 0.01f, false); - ACC(&fit, 1.01f, 0.01f, 0.01f, false); - ACC(&fit, 1.01f, 0.01f, 0.01f, false); - - ACC(&fit, -0.99f, 0.01f, 0.01f, false); - ACC(&fit, -0.99f, 0.01f, 0.01f, false); - ACC(&fit, -0.99f, 0.01f, 0.01f, false); - - ACC(&fit, 0.01f, 1.01f, 0.01f, false); - ACC(&fit, 0.01f, 1.01f, 0.01f, false); - ACC(&fit, 0.01f, 1.01f, 0.01f, false); - - ACC(&fit, 0.01f, 0.01f, 1.01f, false); - ACC(&fit, 0.01f, 0.01f, 1.01f, false); - ACC(&fit, 0.01f, 0.01f, 1.01f, true); - - fpv3_init(bias, 0.0f, 0.0f, 0.0f); - newton_fit_compute(&fit, bias, &radius); - - TEST_NEAR(bias[0], 0.01f, 0.0001f, "%f"); - TEST_NEAR(bias[1], 0.01f, 0.0001f, "%f"); - TEST_NEAR(bias[2], 0.01f, 0.0001f, "%f"); - TEST_NEAR(radius, 1.0f, 0.0001f, "%f"); - - return EC_SUCCESS; -} - -void run_test(int argc, char **argv) -{ - test_reset(); - - RUN_TEST(test_newton_fit_reset); - RUN_TEST(test_newton_fit_accumulate); - RUN_TEST(test_newton_fit_accumulate_merge); - RUN_TEST(test_newton_fit_accumulate_prune); - RUN_TEST(test_newton_fit_calculate); - - test_print_result(); -} |