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// Copyright 2022, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Test xrt_relation_chain functions.
* @author Jakob Bornecrantz <jakob@collabora.com>
*/
#include "xrt/xrt_compiler.h"
#include "math/m_api.h"
#include "math/m_space.h"
#include "catch_amalgamated.hpp"
/*
*
* Constants
*
*/
constexpr xrt_pose kPoseIdentity = XRT_POSE_IDENTITY;
constexpr xrt_pose kPoseOneY = {
XRT_QUAT_IDENTITY,
{0.0f, 1.0f, 0.0f},
};
constexpr xrt_space_relation_flags kFlagsNotValid = {};
constexpr xrt_space_relation_flags kFlagsValid = (xrt_space_relation_flags)( //
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | //
XRT_SPACE_RELATION_POSITION_VALID_BIT); //
constexpr xrt_space_relation_flags kFlagsValidTracked = (xrt_space_relation_flags)( //
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | //
XRT_SPACE_RELATION_POSITION_VALID_BIT | //
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | //
XRT_SPACE_RELATION_POSITION_TRACKED_BIT); //
constexpr xrt_space_relation kSpaceRelationNotValid = {
kFlagsNotValid,
kPoseOneY,
XRT_VEC3_ZERO,
XRT_VEC3_ZERO,
};
constexpr xrt_space_relation kSpaceRelationOneY = {
kFlagsValid,
kPoseOneY,
XRT_VEC3_ZERO,
XRT_VEC3_ZERO,
};
constexpr xrt_space_relation kSpaceRelationOneYTracked = {
kFlagsValidTracked,
kPoseOneY,
XRT_VEC3_ZERO,
XRT_VEC3_ZERO,
};
constexpr xrt_space_relation kSpaceRelationOnlyOrientation = {
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT,
{XRT_QUAT_IDENTITY, XRT_VEC3_ZERO},
XRT_VEC3_ZERO,
XRT_VEC3_ZERO,
};
constexpr xrt_space_relation kSpaceRelationOnlyPosition = {
XRT_SPACE_RELATION_POSITION_VALID_BIT,
{
{0.0f, 0.0f, 0.0f, 0.0f}, // Invalid
{0.0f, 1.0f, 0.0f},
},
XRT_VEC3_ZERO,
XRT_VEC3_ZERO,
};
/*
*
* For flags testing
*
*/
enum Functions
{
NV, // (Non-Identity) (Space Relation) Neither Position/Orientation Valid, Not Tracked
VT, // (Non-Identity) (Space Relation) Position/Orientation Valid, Tracked
VNT, // (Non-Identity) (Space Relation) Position/Orientation Valid, Not Tracked
P, // (Non-Identity) Pose
IP, // Identity Pose
ONLY_ORIENTATION, // (Non-Identity) (Space Relation) Only orientation Valid, Not Tracked
ONLY_POSITION, // (Non-Identity) (Space Relation) Only position Valid, Not Tracked
};
static void
stringify(std::string &str, Functions fn)
{
if (str.size() > 0) {
str += ", ";
}
switch (fn) {
case NV: str += "NV"; break;
case VT: str += "VT"; break;
case VNT: str += "VNT"; break;
case P: str += "P"; break;
case IP: str += "IP"; break;
case ONLY_ORIENTATION: str += "ONLY_ORIENTATION"; break;
case ONLY_POSITION: str += "ONLY_POSITION"; break;
default: assert(false);
}
}
static void
run_func(struct xrt_relation_chain *xrc, Functions fn)
{
switch (fn) {
case NV: m_relation_chain_push_relation(xrc, &kSpaceRelationNotValid); return;
case VT: m_relation_chain_push_relation(xrc, &kSpaceRelationOneYTracked); return;
case VNT: m_relation_chain_push_relation(xrc, &kSpaceRelationOneY); return;
case P: m_relation_chain_push_pose_if_not_identity(xrc, &kPoseOneY); return;
case IP: m_relation_chain_push_pose_if_not_identity(xrc, &kPoseIdentity); return;
case ONLY_ORIENTATION: m_relation_chain_push_relation(xrc, &kSpaceRelationOnlyOrientation); return;
case ONLY_POSITION: m_relation_chain_push_relation(xrc, &kSpaceRelationOnlyPosition); return;
default: assert(false);
}
}
/**
* The first argument is the expected relation flags.
* The following arguments are `enum Functions` values that get translated to one of the kSpaceRelation*
* xrt_space_relations each and pushed in order to the relation chain.
*/
#define TEST_FLAGS(EXPECTED, ...) \
do { \
struct xrt_space_relation result = XRT_STRUCT_INIT; \
struct xrt_relation_chain xrc = XRT_STRUCT_INIT; \
Functions fns[] = {__VA_ARGS__}; \
std::string str = {}; \
for (Functions fn : fns) { \
run_func(&xrc, fn); \
stringify(str, fn); \
} \
CAPTURE(str); \
m_relation_chain_resolve(&xrc, &result); \
CHECK(result.relation_flags == EXPECTED); \
} while (false)
/*
*
* Tests
*
*/
TEST_CASE("Relation Chain Flags")
{
SECTION("Not Valid")
{
TEST_FLAGS(kFlagsNotValid, VT, NV, VT);
TEST_FLAGS(kFlagsNotValid, VT, VT, VT, NV);
TEST_FLAGS(kFlagsNotValid, P, NV, VNT);
TEST_FLAGS(kFlagsNotValid, NV, ONLY_ORIENTATION);
TEST_FLAGS(kFlagsNotValid, NV, ONLY_POSITION);
TEST_FLAGS(kFlagsNotValid, ONLY_ORIENTATION, NV);
TEST_FLAGS(kFlagsNotValid, ONLY_POSITION, NV);
}
SECTION("Not Wrongly Tracked")
{
TEST_FLAGS(kFlagsValid, VNT, IP, VT);
TEST_FLAGS(kFlagsValid, VNT, P, VT);
TEST_FLAGS(kFlagsValid, P, VT, P, VNT);
TEST_FLAGS(kFlagsValid, VT, VT, VNT, VT);
TEST_FLAGS(kFlagsValid, IP, VT, P, VNT, P, VT);
// ONLY_ORIENTATION relation is upgraded to position valid
TEST_FLAGS(kFlagsValid, VT, ONLY_ORIENTATION);
TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, VT, ONLY_POSITION);
// ONLY_ORIENTATION relation is upgraded to position valid
TEST_FLAGS(kFlagsValid, ONLY_ORIENTATION, VT);
TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, ONLY_POSITION, VT);
// ONLY_ORIENTATION relation is upgraded to position valid
TEST_FLAGS(kFlagsValid, P, VT, ONLY_ORIENTATION, P);
TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, P, VT, ONLY_POSITION, P);
// ONLY_ORIENTATION relation is upgraded to position valid
TEST_FLAGS(kFlagsValid, P, ONLY_ORIENTATION, VT, P);
TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, P, ONLY_POSITION, VT, P);
}
SECTION("Tracked")
{
TEST_FLAGS(kFlagsValidTracked, P, VT, P);
TEST_FLAGS(kFlagsValidTracked, P, VT, P, VT);
TEST_FLAGS(kFlagsValidTracked, VT, IP, P);
TEST_FLAGS(kFlagsValidTracked, IP, VT, P);
TEST_FLAGS(kFlagsValidTracked, P, VT, IP, P);
TEST_FLAGS(kFlagsValidTracked, P, IP, VT, P);
TEST_FLAGS(kFlagsValidTracked, IP, IP, VT, IP, IP);
}
SECTION("Non-Tracked")
{
TEST_FLAGS(kFlagsValid, P, VNT, P);
TEST_FLAGS(kFlagsValid, VNT, VNT, VNT);
TEST_FLAGS(kFlagsValid, VNT, P);
TEST_FLAGS(kFlagsValid, P, VNT);
TEST_FLAGS(kFlagsValid, VNT, IP);
TEST_FLAGS(kFlagsValid, IP, VNT);
TEST_FLAGS(kFlagsValid, VNT, IP, P);
TEST_FLAGS(kFlagsValid, IP, VNT, P);
TEST_FLAGS(kFlagsValid, P, VNT, IP, P);
TEST_FLAGS(kFlagsValid, P, IP, VNT, P);
// ONLY_ORIENTATION relation is upgraded to position valid
TEST_FLAGS(kFlagsValid, P, ONLY_ORIENTATION, IP, P);
TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, P, ONLY_POSITION, IP, P);
// ONLY_ORIENTATION relation is upgraded to position valid
TEST_FLAGS(kFlagsValid, ONLY_ORIENTATION, VNT);
TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, ONLY_POSITION, VNT);
// ONLY_ORIENTATION relation is upgraded to position valid
TEST_FLAGS(kFlagsValid, VNT, ONLY_ORIENTATION);
TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, VNT, ONLY_POSITION);
// ONLY_ORIENTATION relation is upgraded to position valid
TEST_FLAGS(kFlagsValid, ONLY_ORIENTATION, P, VNT);
TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, ONLY_POSITION, P, VNT);
// ONLY_ORIENTATION relation is upgraded to position valid
TEST_FLAGS(kFlagsValid, VNT, ONLY_ORIENTATION, P);
TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, VNT, ONLY_POSITION, P);
}
}
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