| // 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/ref_counted.h" |
| #include "base/test/scoped_task_environment.h" |
| #include "services/device/generic_sensor/absolute_orientation_euler_angles_fusion_algorithm_using_accelerometer_and_magnetometer.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" |
| #include "ui/gfx/geometry/angle_conversions.h" |
| |
| namespace device { |
| |
| namespace { |
| |
| class |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest |
| : public testing::Test { |
| public: |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest() { |
| auto fusion_algorithm = std::make_unique< |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometer>(); |
| 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(2UL, fusion_algorithm_->source_types().size()); |
| } |
| |
| void VerifyAbsoluteOrientationEulerAngles(double gravity_x, |
| double gravity_y, |
| double gravity_z, |
| double geomagnetic_x, |
| double geomagnetic_y, |
| double geomagnetic_z, |
| double expected_alpha_in_degrees, |
| double expected_beta_in_degrees, |
| double expected_gamma_in_degrees) { |
| SensorReading gravity_reading; |
| gravity_reading.accel.x = gravity_x; |
| gravity_reading.accel.y = gravity_y; |
| gravity_reading.accel.z = gravity_z; |
| SensorReading geomagnetic_reading; |
| geomagnetic_reading.accel.x = geomagnetic_x; |
| geomagnetic_reading.accel.y = geomagnetic_y; |
| geomagnetic_reading.accel.z = geomagnetic_z; |
| |
| fake_fusion_sensor_->SetSensorReading(mojom::SensorType::ACCELEROMETER, |
| gravity_reading, |
| true /* sensor_reading_success */); |
| fake_fusion_sensor_->SetSensorReading(mojom::SensorType::MAGNETOMETER, |
| geomagnetic_reading, |
| true /* sensor_reading_success */); |
| SensorReading fused_reading; |
| EXPECT_TRUE(fusion_algorithm_->GetFusedData( |
| mojom::SensorType::ACCELEROMETER, &fused_reading)); |
| |
| EXPECT_NEAR(expected_alpha_in_degrees, |
| fused_reading.orientation_euler.z /* alpha */, kEpsilon); |
| EXPECT_NEAR(expected_beta_in_degrees, |
| fused_reading.orientation_euler.x /* beta */, kEpsilon); |
| EXPECT_NEAR(expected_gamma_in_degrees, |
| fused_reading.orientation_euler.y /* gamma */, kEpsilon); |
| } |
| |
| protected: |
| base::test::ScopedTaskEnvironment task_environment_; |
| scoped_refptr<FakePlatformSensorFusion> fake_fusion_sensor_; |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometer* |
| fusion_algorithm_; |
| }; |
| |
| } // namespace |
| |
| TEST_F( |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest, |
| AccelerometerReadingNotChanged) { |
| SensorReading reading; |
| fake_fusion_sensor_->SetSensorReading(mojom::SensorType::ACCELEROMETER, |
| reading, |
| true /* sensor_reading_success */); |
| fake_fusion_sensor_->SetSensorReading(mojom::SensorType::MAGNETOMETER, |
| reading, |
| true /* sensor_reading_success */); |
| SensorReading fused_reading; |
| EXPECT_FALSE(fusion_algorithm_->GetFusedData(mojom::SensorType::MAGNETOMETER, |
| &fused_reading)); |
| } |
| |
| TEST_F( |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest, |
| NoAccelerometerReading) { |
| SensorReading reading; |
| fake_fusion_sensor_->SetSensorReading(mojom::SensorType::ACCELEROMETER, |
| reading, |
| false /* sensor_reading_success */); |
| fake_fusion_sensor_->SetSensorReading(mojom::SensorType::MAGNETOMETER, |
| reading, |
| true /* sensor_reading_success */); |
| SensorReading fused_reading; |
| EXPECT_FALSE(fusion_algorithm_->GetFusedData(mojom::SensorType::ACCELEROMETER, |
| &fused_reading)); |
| } |
| |
| TEST_F( |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest, |
| NoMagnetometerReading) { |
| SensorReading reading; |
| fake_fusion_sensor_->SetSensorReading(mojom::SensorType::ACCELEROMETER, |
| reading, |
| true /* sensor_reading_success */); |
| fake_fusion_sensor_->SetSensorReading(mojom::SensorType::MAGNETOMETER, |
| reading, |
| false /* sensor_reading_success */); |
| SensorReading fused_reading; |
| EXPECT_FALSE(fusion_algorithm_->GetFusedData(mojom::SensorType::ACCELEROMETER, |
| &fused_reading)); |
| } |
| |
| TEST_F( |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest, |
| GravityLessThanTenPercentOfNormalValue) { |
| SensorReading gravity_reading; |
| gravity_reading.accel.x = 0.1; |
| gravity_reading.accel.y = 0.2; |
| gravity_reading.accel.z = 0.3; |
| SensorReading geomagnetic_reading; |
| geomagnetic_reading.accel.x = 1.0; |
| geomagnetic_reading.accel.y = 2.0; |
| geomagnetic_reading.accel.z = 3.0; |
| |
| fake_fusion_sensor_->SetSensorReading(mojom::SensorType::ACCELEROMETER, |
| gravity_reading, |
| true /* sensor_reading_success */); |
| fake_fusion_sensor_->SetSensorReading(mojom::SensorType::MAGNETOMETER, |
| geomagnetic_reading, |
| true /* sensor_reading_success */); |
| SensorReading fused_reading; |
| EXPECT_FALSE(fusion_algorithm_->GetFusedData(mojom::SensorType::ACCELEROMETER, |
| &fused_reading)); |
| } |
| |
| TEST_F( |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest, |
| NormalHIsTooSmall) { |
| SensorReading gravity_reading; |
| gravity_reading.accel.x = 1.0; |
| gravity_reading.accel.y = 1.0; |
| gravity_reading.accel.z = 1.0; |
| SensorReading geomagnetic_reading; |
| geomagnetic_reading.accel.x = 1.0; |
| geomagnetic_reading.accel.y = 1.0; |
| geomagnetic_reading.accel.z = 1.0; |
| |
| fake_fusion_sensor_->SetSensorReading(mojom::SensorType::ACCELEROMETER, |
| gravity_reading, |
| true /* sensor_reading_success */); |
| fake_fusion_sensor_->SetSensorReading(mojom::SensorType::MAGNETOMETER, |
| geomagnetic_reading, |
| true /* sensor_reading_success */); |
| SensorReading fused_reading; |
| EXPECT_FALSE(fusion_algorithm_->GetFusedData(mojom::SensorType::ACCELEROMETER, |
| &fused_reading)); |
| } |
| |
| TEST_F( |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest, |
| Identity) { |
| double gravity_x = 0.0; |
| double gravity_y = 0.0; |
| double gravity_z = 1.0; |
| double geomagnetic_x = 0.0; |
| double geomagnetic_y = 1.0; |
| double geomagnetic_z = 0.0; |
| |
| double expected_alpha_in_degrees = 0.0; |
| double expected_beta_in_degrees = 0.0; |
| double expected_gamma_in_degrees = 0.0; |
| |
| VerifyAbsoluteOrientationEulerAngles( |
| gravity_x, gravity_y, gravity_z, geomagnetic_x, geomagnetic_y, |
| geomagnetic_z, expected_alpha_in_degrees, expected_beta_in_degrees, |
| expected_gamma_in_degrees); |
| } |
| |
| TEST_F( |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest, |
| BetaIs45Degrees) { |
| double gravity_x = 0.0; |
| double gravity_y = std::sin(gfx::DegToRad(45.0)); |
| double gravity_z = std::cos(gfx::DegToRad(45.0)); |
| double geomagnetic_x = 0.0; |
| double geomagnetic_y = 1.0; |
| double geomagnetic_z = 0.0; |
| |
| double expected_alpha_in_degrees = 0.0; |
| double expected_beta_in_degrees = 45.0; |
| double expected_gamma_in_degrees = 0.0; |
| |
| VerifyAbsoluteOrientationEulerAngles( |
| gravity_x, gravity_y, gravity_z, geomagnetic_x, geomagnetic_y, |
| geomagnetic_z, expected_alpha_in_degrees, expected_beta_in_degrees, |
| expected_gamma_in_degrees); |
| } |
| |
| TEST_F( |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest, |
| GammaIs45Degrees) { |
| double gravity_x = -std::sin(gfx::DegToRad(45.0)); |
| double gravity_y = 0.0; |
| double gravity_z = std::cos(gfx::DegToRad(45.0)); |
| double geomagnetic_x = 0.0; |
| double geomagnetic_y = 1.0; |
| double geomagnetic_z = 0.0; |
| |
| double expected_alpha_in_degrees = 0.0; |
| double expected_beta_in_degrees = 0.0; |
| double expected_gamma_in_degrees = 45.0; |
| |
| VerifyAbsoluteOrientationEulerAngles( |
| gravity_x, gravity_y, gravity_z, geomagnetic_x, geomagnetic_y, |
| geomagnetic_z, expected_alpha_in_degrees, expected_beta_in_degrees, |
| expected_gamma_in_degrees); |
| } |
| |
| TEST_F( |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest, |
| AlphaIs45Degrees) { |
| double gravity_x = 0.0; |
| double gravity_y = 0.0; |
| double gravity_z = 1.0; |
| double geomagnetic_x = std::sin(gfx::DegToRad(45.0)); |
| double geomagnetic_y = std::cos(gfx::DegToRad(45.0)); |
| double geomagnetic_z = 0.0; |
| |
| double expected_alpha_in_degrees = 45.0; |
| double expected_beta_in_degrees = 0.0; |
| double expected_gamma_in_degrees = 0.0; |
| |
| VerifyAbsoluteOrientationEulerAngles( |
| gravity_x, gravity_y, gravity_z, geomagnetic_x, geomagnetic_y, |
| geomagnetic_z, expected_alpha_in_degrees, expected_beta_in_degrees, |
| expected_gamma_in_degrees); |
| } |
| |
| TEST_F( |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest, |
| GimbalLock) { |
| double gravity_x = 0.0; |
| double gravity_y = 1.0; |
| double gravity_z = 0.0; |
| double geomagnetic_x = std::sin(gfx::DegToRad(45.0)); |
| double geomagnetic_y = 0.0; |
| double geomagnetic_z = -std::cos(gfx::DegToRad(45.0)); |
| |
| // Favor Alpha instead of Gamma. |
| double expected_alpha_in_degrees = 45.0; |
| double expected_beta_in_degrees = 90.0; |
| double expected_gamma_in_degrees = 0.0; |
| |
| VerifyAbsoluteOrientationEulerAngles( |
| gravity_x, gravity_y, gravity_z, geomagnetic_x, geomagnetic_y, |
| geomagnetic_z, expected_alpha_in_degrees, expected_beta_in_degrees, |
| expected_gamma_in_degrees); |
| } |
| |
| TEST_F( |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest, |
| BetaIsGreaterThan90Degrees) { |
| double gravity_x = 0.0; |
| double gravity_y = std::cos(gfx::DegToRad(45.0)); |
| double gravity_z = -std::sin(gfx::DegToRad(45.0)); |
| double geomagnetic_x = 0.0; |
| double geomagnetic_y = 0.0; |
| double geomagnetic_z = -1.0; |
| |
| double expected_alpha_in_degrees = 0.0; |
| double expected_beta_in_degrees = 135.0; |
| double expected_gamma_in_degrees = 0.0; |
| |
| VerifyAbsoluteOrientationEulerAngles( |
| gravity_x, gravity_y, gravity_z, geomagnetic_x, geomagnetic_y, |
| geomagnetic_z, expected_alpha_in_degrees, expected_beta_in_degrees, |
| expected_gamma_in_degrees); |
| } |
| |
| TEST_F( |
| AbsoluteOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndMagnetometerTest, |
| GammaIsMinus90Degrees) { |
| double gravity_x = -1.0; |
| double gravity_y = 0.0; |
| double gravity_z = 0.0; |
| double geomagnetic_x = 0.0; |
| double geomagnetic_y = 1.0; |
| double geomagnetic_z = 0.0; |
| |
| double expected_alpha_in_degrees = 180.0; |
| double expected_beta_in_degrees = -180.0; |
| double expected_gamma_in_degrees = -90.0; |
| |
| VerifyAbsoluteOrientationEulerAngles( |
| gravity_x, gravity_y, gravity_z, geomagnetic_x, geomagnetic_y, |
| geomagnetic_z, expected_alpha_in_degrees, expected_beta_in_degrees, |
| expected_gamma_in_degrees); |
| } |
| |
| } // namespace device |
