1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
|
/* Copyright 2019 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 "stillness_detector.h"
#include "motion_sense.h"
#include "test_util.h"
#include "timer.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);
static int test_build_still_det_struct(void)
{
struct still_det det = STILL_DET(0.00025f, 800 * MSEC, 1200 * MSEC, 5);
TEST_NEAR(det.var_threshold, 0.00025f, 0.000001f, "%f");
TEST_EQ(det.min_batch_window, 800 * MSEC, "%u");
TEST_EQ(det.max_batch_window, 1200 * MSEC, "%u");
TEST_EQ(det.min_batch_size, 5, "%u");
return EC_SUCCESS;
}
static int test_not_still_short_window(void)
{
struct still_det det = STILL_DET(0.00025f, 800 * MSEC, 1200 * MSEC, 5);
int i;
for (i = 0; i < 6; ++i)
TEST_ASSERT(!still_det_update(&det, i * 100 * MSEC,
0.0f, 0.0f, 0.0f));
return EC_SUCCESS;
}
static int test_not_still_long_window(void)
{
struct still_det det = STILL_DET(0.00025f, 800 * MSEC, 1200 * MSEC, 5);
int i;
for (i = 0; i < 5; ++i)
TEST_ASSERT(!still_det_update(&det, i * 300 * MSEC,
0.0f, 0.0f, 0.0f));
return EC_SUCCESS;
}
static int test_not_still_not_enough_samples(void)
{
struct still_det det = STILL_DET(0.00025f, 800 * MSEC, 1200 * MSEC, 5);
int i;
for (i = 0; i < 4; ++i)
TEST_ASSERT(!still_det_update(&det, i * 200 * MSEC,
0.0f, 0.0f, 0.0f));
return EC_SUCCESS;
}
static int test_is_still_all_axes(void)
{
struct still_det det = STILL_DET(0.00025f, 800 * MSEC, 1200 * MSEC, 5);
int i;
for (i = 0; i < 9; ++i) {
int result = still_det_update(&det, i * 100 * MSEC,
i * 0.001f, i * 0.001f,
i * 0.001f);
TEST_EQ(result, i == 8 ? 1 : 0, "%d");
}
TEST_NEAR(det.mean_x, 0.004f, 0.0001f, "%f");
TEST_NEAR(det.mean_y, 0.004f, 0.0001f, "%f");
TEST_NEAR(det.mean_z, 0.004f, 0.0001f, "%f");
return EC_SUCCESS;
}
static int test_not_still_one_axis(void)
{
struct still_det det = STILL_DET(0.00025f, 800 * MSEC, 1200 * MSEC, 5);
int i;
for (i = 0; i < 9; ++i) {
TEST_ASSERT(!still_det_update(&det, i * 100 * MSEC,
i * 0.001f, i * 0.001f,
i * 0.01f));
}
return EC_SUCCESS;
}
static int test_resets(void)
{
struct still_det det = STILL_DET(0.00025f, 800 * MSEC, 1200 * MSEC, 5);
int i;
for (i = 0; i < 9; ++i) {
TEST_ASSERT(!still_det_update(&det, i * 100 * MSEC,
i * 0.001f, i * 0.001f,
i * 0.01f));
}
for (i = 0; i < 9; ++i) {
int result = still_det_update(&det, i * 100 * MSEC,
i * 0.001f, i * 0.001f,
i * 0.001f);
TEST_EQ(result, i == 8 ? 1 : 0, "%d");
}
TEST_NEAR(det.mean_x, 0.004f, 0.0001f, "%f");
TEST_NEAR(det.mean_y, 0.004f, 0.0001f, "%f");
TEST_NEAR(det.mean_z, 0.004f, 0.0001f, "%f");
return EC_SUCCESS;
}
void run_test(int argc, char **argv)
{
test_reset();
RUN_TEST(test_build_still_det_struct);
RUN_TEST(test_not_still_short_window);
RUN_TEST(test_not_still_long_window);
RUN_TEST(test_not_still_not_enough_samples);
RUN_TEST(test_is_still_all_axes);
RUN_TEST(test_not_still_one_axis);
RUN_TEST(test_resets);
test_print_result();
}
|
