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976d40f669
https://github.com/catchorg/Catch2/releases/tag/v3.6.0 Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2268>
126 lines
3.1 KiB
C++
126 lines
3.1 KiB
C++
// Copyright 2022, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Integer low pass filter tests.
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* @author Rylie Pavlik <rylie.pavlik@collabora.com>
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*/
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#include <math/m_lowpass_integer.hpp>
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#include <math/m_lowpass_integer.h>
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#include "catch_amalgamated.hpp"
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using xrt::auxiliary::math::IntegerLowPassIIRFilter;
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using xrt::auxiliary::math::Rational;
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static constexpr uint16_t InitialState = 300;
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TEMPLATE_TEST_CASE("IntegerLowPassIIRFilter", "", int32_t, uint32_t)
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{
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IntegerLowPassIIRFilter<TestType> filter(Rational<TestType>{1, 2});
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CHECK_FALSE(filter.isInitialized());
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filter.addSample(InitialState);
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CHECK(filter.getState() == InitialState);
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CHECK(filter.isInitialized());
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auto prev = filter.getState();
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SECTION("Increase")
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{
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constexpr auto newTarget = InitialState * 2;
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for (int i = 0; i < 20; ++i) {
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filter.addSample(newTarget);
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REQUIRE(filter.isInitialized());
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// not going to exceed this
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if (prev == newTarget || prev == newTarget - 1) {
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REQUIRE(filter.getState() == prev);
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} else {
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REQUIRE(filter.getState() > prev);
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prev = filter.getState();
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}
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}
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}
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SECTION("Decrease")
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{
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constexpr auto newTarget = InitialState / 2;
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for (int i = 0; i < 20; ++i) {
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filter.addSample(newTarget);
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REQUIRE(filter.isInitialized());
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if (prev == newTarget) {
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REQUIRE(filter.getState() == newTarget);
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} else {
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REQUIRE(filter.getState() < prev);
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prev = filter.getState();
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}
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}
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}
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SECTION("Stay Same")
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{
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for (int i = 0; i < 20; ++i) {
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filter.addSample(InitialState);
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REQUIRE(filter.isInitialized());
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REQUIRE(filter.getState() == InitialState);
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}
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}
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}
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TEST_CASE("m_lowpass_integer")
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{
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struct m_lowpass_integer *filter = m_lowpass_integer_create(1, 2);
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CHECK(filter);
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CHECK_FALSE(m_lowpass_integer_is_initialized(filter));
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m_lowpass_integer_add_sample(filter, InitialState);
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REQUIRE(m_lowpass_integer_is_initialized(filter));
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CHECK(m_lowpass_integer_get_state(filter) == InitialState);
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auto prev = m_lowpass_integer_get_state(filter);
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SECTION("Increase")
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{
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constexpr auto newTarget = InitialState * 2;
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for (int i = 0; i < 20; ++i) {
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m_lowpass_integer_add_sample(filter, newTarget);
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REQUIRE(m_lowpass_integer_is_initialized(filter));
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// not going to exceed this
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if (prev == newTarget || prev == newTarget - 1) {
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REQUIRE(m_lowpass_integer_get_state(filter) == prev);
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} else {
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REQUIRE(m_lowpass_integer_get_state(filter) > prev);
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prev = m_lowpass_integer_get_state(filter);
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}
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}
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}
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SECTION("Decrease")
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{
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constexpr auto newTarget = InitialState / 2;
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for (int i = 0; i < 20; ++i) {
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m_lowpass_integer_add_sample(filter, newTarget);
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REQUIRE(m_lowpass_integer_is_initialized(filter));
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if (prev == newTarget) {
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REQUIRE(m_lowpass_integer_get_state(filter) == newTarget);
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} else {
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REQUIRE(m_lowpass_integer_get_state(filter) < prev);
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prev = m_lowpass_integer_get_state(filter);
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}
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}
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}
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SECTION("Stay Same")
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{
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for (int i = 0; i < 20; ++i) {
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m_lowpass_integer_add_sample(filter, InitialState);
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REQUIRE(m_lowpass_integer_is_initialized(filter));
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REQUIRE(m_lowpass_integer_get_state(filter) == InitialState);
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}
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}
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}
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