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The open source OpenXR runtime
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123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143// Copyright 2022, Collabora, Ltd.// SPDX-License-Identifier: BSL-1.0/*! * @file * @brief Scalar float low pass filter tests. * @author Rylie Pavlik <rylie.pavlik@collabora.com> */
#include <math/m_lowpass_float.hpp>#include <math/m_lowpass_float.h>
#include "catch_amalgamated.hpp"
using xrt::auxiliary::math::LowPassIIRFilter;static constexpr float InitialState = 300;static constexpr timepoint_ns InitialTime = 12345;static constexpr timepoint_ns StepSize = U_TIME_1MS_IN_NS * 20;
TEMPLATE_TEST_CASE("LowPassIIRFilter", "", float, double){ LowPassIIRFilter<TestType> filter(100);
CHECK_FALSE(filter.isInitialized()); timepoint_ns now = InitialTime;
filter.addSample(InitialState, now); CHECK(filter.getState() == InitialState); CHECK(filter.getTimestampNs() == now); CHECK(filter.isInitialized());
auto prev = filter.getState(); SECTION("Increase") { constexpr auto newTarget = InitialState * 2; for (int i = 0; i < 20; ++i) { now += StepSize; filter.addSample(newTarget, now); REQUIRE(filter.isInitialized()); CHECK(filter.getTimestampNs() == now); // not going to exceed this if (prev == newTarget) { REQUIRE(filter.getState() == prev); } else { REQUIRE(filter.getState() > prev); prev = filter.getState(); } } }
SECTION("Decrease") { constexpr auto newTarget = InitialState / 2; for (int i = 0; i < 20; ++i) { now += StepSize; filter.addSample(newTarget, now); REQUIRE(filter.isInitialized()); CHECK(filter.getTimestampNs() == now); if (prev == newTarget) { REQUIRE(filter.getState() == newTarget); } else { REQUIRE(filter.getState() < prev); prev = filter.getState(); } } } SECTION("Stay Same") { for (int i = 0; i < 20; ++i) { now += StepSize; filter.addSample(InitialState, now); REQUIRE(filter.isInitialized()); CHECK(filter.getTimestampNs() == now); REQUIRE(filter.getState() == InitialState); } }}
TEST_CASE("m_lowpass_float"){
struct m_lowpass_float *filter = m_lowpass_float_create(100); CHECK(filter);
CHECK_FALSE(m_lowpass_float_is_initialized(filter));
timepoint_ns now = InitialTime;
m_lowpass_float_add_sample(filter, InitialState, now); REQUIRE(m_lowpass_float_is_initialized(filter)); CHECK(m_lowpass_float_get_state(filter) == InitialState);
m_lowpass_float_add_sample(filter, InitialState, now); CHECK(m_lowpass_float_get_state(filter) == InitialState); CHECK(m_lowpass_float_get_timestamp_ns(filter) == now); CHECK(m_lowpass_float_is_initialized(filter));
auto prev = m_lowpass_float_get_state(filter); SECTION("Increase") { constexpr auto newTarget = InitialState * 2; for (int i = 0; i < 20; ++i) { now += StepSize; m_lowpass_float_add_sample(filter, newTarget, now); REQUIRE(m_lowpass_float_is_initialized(filter)); CHECK(m_lowpass_float_get_timestamp_ns(filter) == now); // not going to exceed this if (prev == newTarget) { REQUIRE(m_lowpass_float_get_state(filter) == prev); } else { REQUIRE(m_lowpass_float_get_state(filter) > prev); prev = m_lowpass_float_get_state(filter); } } }
SECTION("Decrease") { constexpr auto newTarget = InitialState / 2; for (int i = 0; i < 20; ++i) { now += StepSize; m_lowpass_float_add_sample(filter, newTarget, now); REQUIRE(m_lowpass_float_is_initialized(filter)); CHECK(m_lowpass_float_get_timestamp_ns(filter) == now); if (prev == newTarget) { REQUIRE(m_lowpass_float_get_state(filter) == newTarget); } else { REQUIRE(m_lowpass_float_get_state(filter) < prev); prev = m_lowpass_float_get_state(filter); } } } SECTION("Stay Same") { for (int i = 0; i < 20; ++i) { now += StepSize; m_lowpass_float_add_sample(filter, InitialState, now); REQUIRE(m_lowpass_float_is_initialized(filter)); CHECK(m_lowpass_float_get_timestamp_ns(filter) == now); REQUIRE(m_lowpass_float_get_state(filter) == InitialState); } }}