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tests: Add tests for m_relation_history_get

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Ryan Pavlik 2021-12-02 15:43:25 -06:00 committed by Jakob Bornecrantz
parent 8c04bf1274
commit 4bd0d12462
2 changed files with 90 additions and 0 deletions
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7
tests/CMakeLists.txt
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@ -28,3 +28,10 @@ add_executable(tests_json tests_json.cpp)
target_link_libraries(tests_json PRIVATE tests_main)
target_link_libraries(tests_json PRIVATE aux_util)
add_test(NAME tests_json COMMAND tests_json --success)
# history
add_executable(tests_history_buf tests_history_buf.cpp)
target_link_libraries(tests_history_buf PRIVATE tests_main)
target_link_libraries(tests_history_buf PRIVATE aux_util aux_math)
add_test(NAME tests_history_buf COMMAND tests_history_buf --success)

83
tests/tests_history_buf.cpp Normal file
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@ -0,0 +1,83 @@
// Copyright 2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief HistoryBuffer collection tests.
* @author Ryan Pavlik <ryan.pavlik@collabora.com>
*/
#include <iostream>
#include <math/m_relation_history.h>
#include "catch/catch.hpp"
TEST_CASE("m_relation_history")
{
m_relation_history *rh = nullptr;
m_relation_history_create(&rh);
SECTION("empty buffer")
{
xrt_space_relation out_relation = XRT_SPACE_RELATION_ZERO;
CHECK(m_relation_history_get(rh, 0, &out_relation) == M_RELATION_HISTORY_RESULT_INVALID);
CHECK(m_relation_history_get(rh, 1, &out_relation) == M_RELATION_HISTORY_RESULT_INVALID);
}
SECTION("populated buffer")
{
xrt_space_relation relation = XRT_SPACE_RELATION_ZERO;
relation.relation_flags = (xrt_space_relation_flags)(
XRT_SPACE_RELATION_POSITION_TRACKED_BIT | XRT_SPACE_RELATION_POSITION_VALID_BIT |
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_LINEAR_VELOCITY_VALID_BIT);
relation.linear_velocity.x = 1.f;
// arbitrary value
constexpr auto T0 = 20 * (uint64_t)U_TIME_1S_IN_NS;
// one second after T0
constexpr auto T1 = T0 + (uint64_t)U_TIME_1S_IN_NS;
// two seconds after T0
constexpr auto T2 = T1 + (uint64_t)U_TIME_1S_IN_NS;
m_relation_history_push(rh, &relation, T0);
relation.pose.position.x = 1.f;
m_relation_history_push(rh, &relation, T1);
relation.pose.position.x = 2.f;
m_relation_history_push(rh, &relation, T2);
xrt_space_relation out_relation = XRT_SPACE_RELATION_ZERO;
CHECK(m_relation_history_get(rh, 0, &out_relation) == M_RELATION_HISTORY_RESULT_INVALID);
CHECK(m_relation_history_get(rh, T0, &out_relation) == M_RELATION_HISTORY_RESULT_EXACT);
CHECK(out_relation.pose.position.x == 0.f);
CHECK(m_relation_history_get(rh, T1, &out_relation) == M_RELATION_HISTORY_RESULT_EXACT);
CHECK(out_relation.pose.position.x == 1.f);
CHECK(m_relation_history_get(rh, T2, &out_relation) == M_RELATION_HISTORY_RESULT_EXACT);
CHECK(out_relation.pose.position.x == 2.f);
CHECK(m_relation_history_get(rh, T0 - (uint64_t)U_TIME_1S_IN_NS, &out_relation) ==
M_RELATION_HISTORY_RESULT_REVERSE_PREDICTED);
CHECK(out_relation.pose.position.x < 0.f);
CHECK(m_relation_history_get(rh, (T0 + T1) / 2, &out_relation) ==
M_RELATION_HISTORY_RESULT_INTERPOLATED);
CHECK(out_relation.pose.position.x > 0.f);
CHECK(out_relation.pose.position.x < 1.f);
CHECK(m_relation_history_get(rh, (T1 + T2) / 2, &out_relation) ==
M_RELATION_HISTORY_RESULT_INTERPOLATED);
CHECK(out_relation.pose.position.x > 1.f);
CHECK(out_relation.pose.position.x < 2.f);
CHECK(m_relation_history_get(rh, T2 + (uint64_t)U_TIME_1S_IN_NS, &out_relation) ==
M_RELATION_HISTORY_RESULT_PREDICTED);
CHECK(out_relation.pose.position.x > 2.f);
}
m_relation_history_destroy(&rh);
}