74 lines
1.9 KiB
C
74 lines
1.9 KiB
C
/* Copyright 2020 The Chromium OS Authors. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the LICENSE file.
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*/
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#include "common.h"
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#include "kasa.h"
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#include "test_util.h"
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#include "motion_sense.h"
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#include <stdio.h>
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struct motion_sensor_t motion_sensors[] = {};
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const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
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static int test_kasa_reset(void)
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{
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struct kasa_fit kasa;
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kasa_reset(&kasa);
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TEST_EQ(kasa.nsamples, 0, "%u");
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TEST_NEAR(kasa.acc_x, 0.0f, 0.000001f, "%f");
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TEST_NEAR(kasa.acc_y, 0.0f, 0.000001f, "%f");
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TEST_NEAR(kasa.acc_z, 0.0f, 0.000001f, "%f");
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TEST_NEAR(kasa.acc_w, 0.0f, 0.000001f, "%f");
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TEST_NEAR(kasa.acc_xx, 0.0f, 0.000001f, "%f");
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TEST_NEAR(kasa.acc_xy, 0.0f, 0.000001f, "%f");
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TEST_NEAR(kasa.acc_xz, 0.0f, 0.000001f, "%f");
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TEST_NEAR(kasa.acc_xw, 0.0f, 0.000001f, "%f");
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TEST_NEAR(kasa.acc_yy, 0.0f, 0.000001f, "%f");
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TEST_NEAR(kasa.acc_yz, 0.0f, 0.000001f, "%f");
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TEST_NEAR(kasa.acc_yw, 0.0f, 0.000001f, "%f");
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TEST_NEAR(kasa.acc_zz, 0.0f, 0.000001f, "%f");
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TEST_NEAR(kasa.acc_zw, 0.0f, 0.000001f, "%f");
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return EC_SUCCESS;
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}
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static int test_kasa_calculate(void)
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{
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struct kasa_fit kasa;
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fpv3_t bias;
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float radius;
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kasa_reset(&kasa);
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kasa_accumulate(&kasa, 1.01f, 0.01f, 0.01f);
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kasa_accumulate(&kasa, -0.99f, 0.01f, 0.01f);
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kasa_accumulate(&kasa, 0.01f, 1.01f, 0.01f);
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kasa_accumulate(&kasa, 0.01f, -0.99f, 0.01f);
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kasa_accumulate(&kasa, 0.01f, 0.01f, 1.01f);
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kasa_accumulate(&kasa, 0.01f, 0.01f, -0.99f);
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kasa_compute(&kasa, bias, &radius);
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TEST_NEAR(bias[0], 0.01f, 0.0001f, "%f");
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TEST_NEAR(bias[1], 0.01f, 0.0001f, "%f");
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TEST_NEAR(bias[2], 0.01f, 0.0001f, "%f");
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TEST_NEAR(radius, 1.0f, 0.0001f, "%f");
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return EC_SUCCESS;
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}
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void run_test(int argc, char **argv)
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{
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test_reset();
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RUN_TEST(test_kasa_reset);
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RUN_TEST(test_kasa_calculate);
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test_print_result();
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}
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