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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 <cmath>
- #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 "services/device/generic_sensor/orientation_quaternion_fusion_algorithm_using_euler_angles.h"
- #include "services/device/generic_sensor/orientation_test_data.h"
- #include "testing/gtest/include/gtest/gtest.h"
- namespace device {
- class OrientationQuaternionFusionAlgorithmUsingEulerAnglesTest
- : public testing::Test {
- public:
- OrientationQuaternionFusionAlgorithmUsingEulerAnglesTest() {
- auto fusion_algorithm =
- std::make_unique<OrientationQuaternionFusionAlgorithmUsingEulerAngles>(
- true /* absolute */);
- fusion_algorithm_ = fusion_algorithm.get();
- fake_fusion_sensor_ = base::MakeRefCounted<FakePlatformSensorFusion>(
- std::move(fusion_algorithm));
- fusion_algorithm_->set_fusion_sensor(fake_fusion_sensor_.get());
- }
- protected:
- base::test::TaskEnvironment task_environment_;
- scoped_refptr<FakePlatformSensorFusion> fake_fusion_sensor_;
- raw_ptr<OrientationQuaternionFusionAlgorithmUsingEulerAngles>
- fusion_algorithm_;
- };
- TEST_F(OrientationQuaternionFusionAlgorithmUsingEulerAnglesTest,
- ReadSourceSensorFailed) {
- ASSERT_EQ(1UL, fusion_algorithm_->source_types().size());
- mojom::SensorType source_type = fusion_algorithm_->source_types()[0];
- SensorReading reading;
- SensorReading fused_reading;
- fake_fusion_sensor_->SetSensorReading(source_type, reading,
- false /* sensor_reading_success */);
- EXPECT_FALSE(fusion_algorithm_->GetFusedData(source_type, &fused_reading));
- }
- TEST_F(OrientationQuaternionFusionAlgorithmUsingEulerAnglesTest,
- CheckSampleValues) {
- ASSERT_EQ(euler_angles_in_degrees_test_values.size(),
- quaternions_test_values.size());
- ASSERT_EQ(1UL, fusion_algorithm_->source_types().size());
- mojom::SensorType source_type = fusion_algorithm_->source_types()[0];
- SensorReading reading;
- SensorReading fused_reading;
- for (size_t i = 0; i < euler_angles_in_degrees_test_values.size(); ++i) {
- // alpha
- reading.orientation_euler.z = euler_angles_in_degrees_test_values[i][0];
- // beta
- reading.orientation_euler.x = euler_angles_in_degrees_test_values[i][1];
- // gamma
- reading.orientation_euler.y = euler_angles_in_degrees_test_values[i][2];
- fake_fusion_sensor_->SetSensorReading(source_type, reading,
- true /* sensor_reading_success */);
- EXPECT_TRUE(fusion_algorithm_->GetFusedData(source_type, &fused_reading));
- double x = fused_reading.orientation_quat.x;
- double y = fused_reading.orientation_quat.y;
- double z = fused_reading.orientation_quat.z;
- double w = fused_reading.orientation_quat.w;
- EXPECT_NEAR(quaternions_test_values[i][0], x, kEpsilon)
- << "on test value " << i;
- EXPECT_NEAR(quaternions_test_values[i][1], y, kEpsilon)
- << "on test value " << i;
- EXPECT_NEAR(quaternions_test_values[i][2], z, kEpsilon)
- << "on test value " << i;
- EXPECT_NEAR(quaternions_test_values[i][3], w, kEpsilon)
- << "on test value " << i;
- EXPECT_NEAR(1.0, x * x + y * y + z * z + w * w, kEpsilon)
- << "on test value " << i;
- }
- // Test when alpha is NAN.
- for (size_t i = 0; i < euler_angles_in_degrees_test_values.size(); ++i) {
- if (euler_angles_in_degrees_test_values[i][0] != 0.0) {
- // Here we need to test when alpha is NAN, it is considered the same as
- // its value is 0.0 in
- // OrientationQuaternionFusionAlgorithmUsingEulerAngles fusion sensor
- // algorithm. So we reuse the test data entries in
- // |euler_angles_in_degrees_test_values| whose alpha value is 0.0, and
- // skip other test data that has non-zero alpha values.
- continue;
- }
- // alpha
- reading.orientation_euler.z = NAN;
- // beta
- reading.orientation_euler.x = euler_angles_in_degrees_test_values[i][1];
- // gamma
- reading.orientation_euler.y = euler_angles_in_degrees_test_values[i][2];
- fake_fusion_sensor_->SetSensorReading(source_type, reading,
- true /* sensor_reading_success */);
- EXPECT_TRUE(fusion_algorithm_->GetFusedData(source_type, &fused_reading));
- double x = fused_reading.orientation_quat.x;
- double y = fused_reading.orientation_quat.y;
- double z = fused_reading.orientation_quat.z;
- double w = fused_reading.orientation_quat.w;
- EXPECT_NEAR(quaternions_test_values[i][0], x, kEpsilon)
- << "on test value " << i;
- EXPECT_NEAR(quaternions_test_values[i][1], y, kEpsilon)
- << "on test value " << i;
- EXPECT_NEAR(quaternions_test_values[i][2], z, kEpsilon)
- << "on test value " << i;
- EXPECT_NEAR(quaternions_test_values[i][3], w, kEpsilon)
- << "on test value " << i;
- EXPECT_NEAR(1.0, x * x + y * y + z * z + w * w, kEpsilon)
- << "on test value " << i;
- }
- }
- } // namespace device
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