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- // Copyright 2017 The Chromium 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 "services/device/generic_sensor/linear_acceleration_fusion_algorithm_using_accelerometer.h"
- #include "base/memory/raw_ptr.h"
- #include "base/memory/ref_counted.h"
- #include "base/test/task_environment.h"
- #include "services/device/generic_sensor/fake_platform_sensor_fusion.h"
- #include "services/device/generic_sensor/generic_sensor_consts.h"
- #include "testing/gtest/include/gtest/gtest.h"
- namespace device {
- namespace {
- class LinearAccelerationFusionAlgorithmUsingAccelerometerTest
- : public testing::Test {
- public:
- LinearAccelerationFusionAlgorithmUsingAccelerometerTest() {
- auto fusion_algorithm =
- std::make_unique<LinearAccelerationFusionAlgorithmUsingAccelerometer>();
- fusion_algorithm_ = fusion_algorithm.get();
- fake_fusion_sensor_ = base::MakeRefCounted<FakePlatformSensorFusion>(
- std::move(fusion_algorithm));
- fusion_algorithm_->set_fusion_sensor(fake_fusion_sensor_.get());
- EXPECT_EQ(1UL, fusion_algorithm_->source_types().size());
- }
- void VerifyNoFusedDataOnFirstReading(double acceleration_x,
- double acceleration_y,
- double acceleration_z,
- double timestamp) {
- SensorReading reading;
- reading.accel.x = acceleration_x;
- reading.accel.y = acceleration_y;
- reading.accel.z = acceleration_z;
- reading.accel.timestamp.value() = timestamp;
- fake_fusion_sensor_->SetSensorReading(mojom::SensorType::ACCELEROMETER,
- reading,
- true /* sensor_reading_success */);
- SensorReading fused_reading;
- EXPECT_FALSE(fusion_algorithm_->GetFusedData(
- mojom::SensorType::ACCELEROMETER, &fused_reading));
- }
- void VerifyLinearAcceleration(double acceleration_x,
- double acceleration_y,
- double acceleration_z,
- double timestamp,
- double expected_linear_acceleration_x,
- double expected_linear_acceleration_y,
- double expected_linear_acceleration_z) {
- SensorReading reading;
- reading.accel.x = acceleration_x;
- reading.accel.y = acceleration_y;
- reading.accel.z = acceleration_z;
- reading.accel.timestamp.value() = timestamp;
- fake_fusion_sensor_->SetSensorReading(mojom::SensorType::ACCELEROMETER,
- reading,
- true /* sensor_reading_success */);
- SensorReading fused_reading;
- EXPECT_TRUE(fusion_algorithm_->GetFusedData(
- mojom::SensorType::ACCELEROMETER, &fused_reading));
- EXPECT_NEAR(expected_linear_acceleration_x, fused_reading.accel.x,
- kEpsilon);
- EXPECT_NEAR(expected_linear_acceleration_y, fused_reading.accel.y,
- kEpsilon);
- EXPECT_NEAR(expected_linear_acceleration_z, fused_reading.accel.z,
- kEpsilon);
- }
- void VerifyLinearAccelerationWhenAccelerometerReadingDifferentNonZeroXYZ(
- double timestamp1,
- double timestamp2,
- double timestamp3) {
- double acceleration_x = 1.0;
- double acceleration_y = 2.0;
- double acceleration_z = 3.0;
- VerifyNoFusedDataOnFirstReading(acceleration_x, acceleration_y,
- acceleration_z, timestamp1);
- acceleration_x = 4.0;
- acceleration_y = 5.0;
- acceleration_z = 6.0;
- double expected_linear_acceleration_x = 0.6666666666;
- double expected_linear_acceleration_y = 0.8333333333;
- double expected_linear_acceleration_z = 1.0;
- VerifyLinearAcceleration(acceleration_x, acceleration_y, acceleration_z,
- timestamp2, expected_linear_acceleration_x,
- expected_linear_acceleration_y,
- expected_linear_acceleration_z);
- acceleration_x = 7.0;
- acceleration_y = 8.0;
- acceleration_z = 9.0;
- expected_linear_acceleration_x = 0.4782608695;
- expected_linear_acceleration_y = 0.5;
- expected_linear_acceleration_z = 0.5217391304;
- VerifyLinearAcceleration(acceleration_x, acceleration_y, acceleration_z,
- timestamp3, expected_linear_acceleration_x,
- expected_linear_acceleration_y,
- expected_linear_acceleration_z);
- }
- protected:
- base::test::TaskEnvironment task_environment_;
- scoped_refptr<FakePlatformSensorFusion> fake_fusion_sensor_;
- raw_ptr<LinearAccelerationFusionAlgorithmUsingAccelerometer>
- fusion_algorithm_;
- };
- } // namespace
- TEST_F(LinearAccelerationFusionAlgorithmUsingAccelerometerTest,
- NoAccelerometerReading) {
- fusion_algorithm_->SetFrequency(10.0);
- SensorReading reading;
- fake_fusion_sensor_->SetSensorReading(mojom::SensorType::ACCELEROMETER,
- reading,
- false /* sensor_reading_success */);
- SensorReading fused_reading;
- EXPECT_FALSE(fusion_algorithm_->GetFusedData(mojom::SensorType::ACCELEROMETER,
- &fused_reading));
- }
- TEST_F(LinearAccelerationFusionAlgorithmUsingAccelerometerTest,
- NoFusedDataOnFirstReading) {
- fusion_algorithm_->SetFrequency(10.0);
- double acceleration_x = 1.0;
- double acceleration_y = 2.0;
- double acceleration_z = 3.0;
- double timestamp = 1.0;
- VerifyNoFusedDataOnFirstReading(acceleration_x, acceleration_y,
- acceleration_z, timestamp);
- }
- TEST_F(LinearAccelerationFusionAlgorithmUsingAccelerometerTest,
- AccelerometerReadingAllZero) {
- fusion_algorithm_->SetFrequency(10.0);
- double acceleration_x = 0.0;
- double acceleration_y = 0.0;
- double acceleration_z = 0.0;
- double timestamp = 1.0;
- VerifyNoFusedDataOnFirstReading(acceleration_x, acceleration_y,
- acceleration_z, timestamp);
- timestamp = 2.0;
- double expected_linear_acceleration_x = 0.0;
- double expected_linear_acceleration_y = 0.0;
- double expected_linear_acceleration_z = 0.0;
- VerifyLinearAcceleration(acceleration_x, acceleration_y, acceleration_z,
- timestamp, expected_linear_acceleration_x,
- expected_linear_acceleration_y,
- expected_linear_acceleration_z);
- }
- TEST_F(LinearAccelerationFusionAlgorithmUsingAccelerometerTest,
- AccelerometerReadingNonZeroX) {
- fusion_algorithm_->SetFrequency(10.0);
- double acceleration_x = 1.0;
- double acceleration_y = 0.0;
- double acceleration_z = 0.0;
- double timestamp = 1.0;
- VerifyNoFusedDataOnFirstReading(acceleration_x, acceleration_y,
- acceleration_z, timestamp);
- acceleration_x = 2.0;
- timestamp = 2.0;
- double expected_linear_acceleration_x = 0.3333333333;
- double expected_linear_acceleration_y = 0.0;
- double expected_linear_acceleration_z = 0.0;
- VerifyLinearAcceleration(acceleration_x, acceleration_y, acceleration_z,
- timestamp, expected_linear_acceleration_x,
- expected_linear_acceleration_y,
- expected_linear_acceleration_z);
- }
- TEST_F(LinearAccelerationFusionAlgorithmUsingAccelerometerTest,
- AccelerometerReadingNonZeroY) {
- fusion_algorithm_->SetFrequency(10.0);
- double acceleration_x = 0.0;
- double acceleration_y = 1.0;
- double acceleration_z = 0.0;
- double timestamp = 1.0;
- VerifyNoFusedDataOnFirstReading(acceleration_x, acceleration_y,
- acceleration_z, timestamp);
- acceleration_y = 2.0;
- timestamp = 2.0;
- double expected_linear_acceleration_x = 0.0;
- double expected_linear_acceleration_y = 0.3333333333;
- double expected_linear_acceleration_z = 0.0;
- VerifyLinearAcceleration(acceleration_x, acceleration_y, acceleration_z,
- timestamp, expected_linear_acceleration_x,
- expected_linear_acceleration_y,
- expected_linear_acceleration_z);
- }
- TEST_F(LinearAccelerationFusionAlgorithmUsingAccelerometerTest,
- AccelerometerReadingNonZeroZ) {
- fusion_algorithm_->SetFrequency(10.0);
- double acceleration_x = 0.0;
- double acceleration_y = 0.0;
- double acceleration_z = 1.0;
- double timestamp = 1.0;
- VerifyNoFusedDataOnFirstReading(acceleration_x, acceleration_y,
- acceleration_z, timestamp);
- acceleration_z = 2.0;
- timestamp = 2.0;
- double expected_linear_acceleration_x = 0.0;
- double expected_linear_acceleration_y = 0.0;
- double expected_linear_acceleration_z = 0.3333333333;
- VerifyLinearAcceleration(acceleration_x, acceleration_y, acceleration_z,
- timestamp, expected_linear_acceleration_x,
- expected_linear_acceleration_y,
- expected_linear_acceleration_z);
- }
- TEST_F(LinearAccelerationFusionAlgorithmUsingAccelerometerTest,
- AccelerometerReadingSameNonZeroXYZ) {
- fusion_algorithm_->SetFrequency(10.0);
- double acceleration = 1.0;
- double timestamp = 1.0;
- VerifyNoFusedDataOnFirstReading(acceleration, acceleration, acceleration,
- timestamp);
- acceleration = 2.0;
- timestamp = 2.0;
- double expected_linear_acceleration = 0.3333333333;
- VerifyLinearAcceleration(acceleration, acceleration, acceleration, timestamp,
- expected_linear_acceleration,
- expected_linear_acceleration,
- expected_linear_acceleration);
- acceleration = 3.0;
- timestamp = 3.0;
- expected_linear_acceleration = 0.1739130434;
- VerifyLinearAcceleration(acceleration, acceleration, acceleration, timestamp,
- expected_linear_acceleration,
- expected_linear_acceleration,
- expected_linear_acceleration);
- }
- TEST_F(LinearAccelerationFusionAlgorithmUsingAccelerometerTest,
- AccelerometerReadingDifferentNonZeroXYZ) {
- fusion_algorithm_->SetFrequency(10.0);
- double timestamp1 = 1.0;
- double timestamp2 = 2.0;
- double timestamp3 = 3.0;
- VerifyLinearAccelerationWhenAccelerometerReadingDifferentNonZeroXYZ(
- timestamp1, timestamp2, timestamp3);
- }
- TEST_F(LinearAccelerationFusionAlgorithmUsingAccelerometerTest,
- StopSensorShouldClearAllInternalStatisticalData) {
- fusion_algorithm_->SetFrequency(10.0);
- double timestamp1 = 1.0;
- double timestamp2 = 2.0;
- double timestamp3 = 3.0;
- VerifyLinearAccelerationWhenAccelerometerReadingDifferentNonZeroXYZ(
- timestamp1, timestamp2, timestamp3);
- fusion_algorithm_->Reset();
- // After sensor stops, all internal statistical data are reset. When using
- // the same accelerometer data but different timestamps, the linear
- // acceleration fused data should be the same as before.
- fusion_algorithm_->SetFrequency(10.0);
- double timestamp4 = 4.0;
- double timestamp5 = 5.0;
- double timestamp6 = 6.0;
- VerifyLinearAccelerationWhenAccelerometerReadingDifferentNonZeroXYZ(
- timestamp4, timestamp5, timestamp6);
- }
- } // namespace device
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