blob: e0c981a74000d543575e6198270e842d6ffb4653 [file] [log] [blame]
// 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 "services/device/generic_sensor/orientation_euler_angles_fusion_algorithm_using_quaternion.h"
#include "base/memory/ptr_util.h"
#include "base/memory/ref_counted.h"
#include "services/device/device_service_test_base.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_test_data.h"
#include "testing/gtest/include/gtest/gtest.h"
namespace device {
class OrientationEulerAnglesFusionAlgorithmUsingQuaternionTest
: public DeviceServiceTestBase {
public:
OrientationEulerAnglesFusionAlgorithmUsingQuaternionTest() {
auto fusion_algorithm =
std::make_unique<OrientationEulerAnglesFusionAlgorithmUsingQuaternion>(
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:
scoped_refptr<FakePlatformSensorFusion> fake_fusion_sensor_;
OrientationEulerAnglesFusionAlgorithmUsingQuaternion* fusion_algorithm_;
};
TEST_F(OrientationEulerAnglesFusionAlgorithmUsingQuaternionTest,
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(OrientationEulerAnglesFusionAlgorithmUsingQuaternionTest,
CheckSampleValues) {
ASSERT_EQ(quaternions_test_values.size(),
euler_angles_in_degrees_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 < quaternions_test_values.size(); ++i) {
reading.orientation_quat.x = quaternions_test_values[i][0];
reading.orientation_quat.y = quaternions_test_values[i][1];
reading.orientation_quat.z = quaternions_test_values[i][2];
reading.orientation_quat.w = quaternions_test_values[i][3];
fake_fusion_sensor_->SetSensorReading(source_type, reading,
true /* sensor_reading_success */);
EXPECT_TRUE(fusion_algorithm_->GetFusedData(source_type, &fused_reading));
EXPECT_NEAR(euler_angles_in_degrees_test_values[i][0],
fused_reading.orientation_euler.z /* alpha */, kEpsilon)
<< "on test value " << i;
EXPECT_NEAR(euler_angles_in_degrees_test_values[i][1],
fused_reading.orientation_euler.x /* beta */, kEpsilon)
<< "on test value " << i;
EXPECT_NEAR(euler_angles_in_degrees_test_values[i][2],
fused_reading.orientation_euler.y /* gamma */, kEpsilon)
<< "on test value " << i;
}
}
} // namespace device