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// 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);
}
}
}
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