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1// Copyright 2022, Collabora, Ltd.
2// SPDX-License-Identifier: BSL-1.0
3/*!
4 * @file
5 * @brief Scalar float low pass filter tests.
6 * @author Rylie Pavlik <rylie.pavlik@collabora.com>
7 */
8
9#include <math/m_lowpass_float.hpp>
10#include <math/m_lowpass_float.h>
11
12#include "catch_amalgamated.hpp"
13
14using xrt::auxiliary::math::LowPassIIRFilter;
15static constexpr float InitialState = 300;
16static constexpr timepoint_ns InitialTime = 12345;
17static constexpr timepoint_ns StepSize = U_TIME_1MS_IN_NS * 20;
18
19TEMPLATE_TEST_CASE("LowPassIIRFilter", "", float, double)
20{
21 LowPassIIRFilter<TestType> filter(100);
22
23 CHECK_FALSE(filter.isInitialized());
24 timepoint_ns now = InitialTime;
25
26 filter.addSample(InitialState, now);
27 CHECK(filter.getState() == InitialState);
28 CHECK(filter.getTimestampNs() == now);
29 CHECK(filter.isInitialized());
30
31 auto prev = filter.getState();
32 SECTION("Increase")
33 {
34 constexpr auto newTarget = InitialState * 2;
35 for (int i = 0; i < 20; ++i) {
36 now += StepSize;
37 filter.addSample(newTarget, now);
38 REQUIRE(filter.isInitialized());
39 CHECK(filter.getTimestampNs() == now);
40 // not going to exceed this
41 if (prev == newTarget) {
42 REQUIRE(filter.getState() == prev);
43 } else {
44 REQUIRE(filter.getState() > prev);
45 prev = filter.getState();
46 }
47 }
48 }
49
50 SECTION("Decrease")
51 {
52 constexpr auto newTarget = InitialState / 2;
53 for (int i = 0; i < 20; ++i) {
54 now += StepSize;
55 filter.addSample(newTarget, now);
56 REQUIRE(filter.isInitialized());
57 CHECK(filter.getTimestampNs() == now);
58 if (prev == newTarget) {
59 REQUIRE(filter.getState() == newTarget);
60 } else {
61 REQUIRE(filter.getState() < prev);
62 prev = filter.getState();
63 }
64 }
65 }
66 SECTION("Stay Same")
67 {
68 for (int i = 0; i < 20; ++i) {
69 now += StepSize;
70 filter.addSample(InitialState, now);
71 REQUIRE(filter.isInitialized());
72 CHECK(filter.getTimestampNs() == now);
73 REQUIRE(filter.getState() == InitialState);
74 }
75 }
76}
77
78TEST_CASE("m_lowpass_float")
79{
80
81 struct m_lowpass_float *filter = m_lowpass_float_create(100);
82 CHECK(filter);
83
84 CHECK_FALSE(m_lowpass_float_is_initialized(filter));
85
86 timepoint_ns now = InitialTime;
87
88 m_lowpass_float_add_sample(filter, InitialState, now);
89 REQUIRE(m_lowpass_float_is_initialized(filter));
90 CHECK(m_lowpass_float_get_state(filter) == InitialState);
91
92 m_lowpass_float_add_sample(filter, InitialState, now);
93 CHECK(m_lowpass_float_get_state(filter) == InitialState);
94 CHECK(m_lowpass_float_get_timestamp_ns(filter) == now);
95 CHECK(m_lowpass_float_is_initialized(filter));
96
97 auto prev = m_lowpass_float_get_state(filter);
98 SECTION("Increase")
99 {
100 constexpr auto newTarget = InitialState * 2;
101 for (int i = 0; i < 20; ++i) {
102 now += StepSize;
103 m_lowpass_float_add_sample(filter, newTarget, now);
104 REQUIRE(m_lowpass_float_is_initialized(filter));
105 CHECK(m_lowpass_float_get_timestamp_ns(filter) == now);
106 // not going to exceed this
107 if (prev == newTarget) {
108 REQUIRE(m_lowpass_float_get_state(filter) == prev);
109 } else {
110 REQUIRE(m_lowpass_float_get_state(filter) > prev);
111 prev = m_lowpass_float_get_state(filter);
112 }
113 }
114 }
115
116 SECTION("Decrease")
117 {
118 constexpr auto newTarget = InitialState / 2;
119 for (int i = 0; i < 20; ++i) {
120 now += StepSize;
121 m_lowpass_float_add_sample(filter, newTarget, now);
122 REQUIRE(m_lowpass_float_is_initialized(filter));
123 CHECK(m_lowpass_float_get_timestamp_ns(filter) == now);
124 if (prev == newTarget) {
125 REQUIRE(m_lowpass_float_get_state(filter) == newTarget);
126 } else {
127 REQUIRE(m_lowpass_float_get_state(filter) < prev);
128 prev = m_lowpass_float_get_state(filter);
129 }
130 }
131 }
132 SECTION("Stay Same")
133 {
134 for (int i = 0; i < 20; ++i) {
135 now += StepSize;
136 m_lowpass_float_add_sample(filter, InitialState, now);
137 REQUIRE(m_lowpass_float_is_initialized(filter));
138 CHECK(m_lowpass_float_get_timestamp_ns(filter) == now);
139 REQUIRE(m_lowpass_float_get_state(filter) == InitialState);
140 }
141 }
142}