FHWS/Indoor
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merged

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This commit is contained in:
toni
2017-03-21 17:21:24 +01:00
parent 991f42060c bb43e7f0fe
commit b8b35d2a50
21 changed files with 812 additions and 266 deletions
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24
tests/sensors/imu/TestMotionDetection.cpp
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@@ -38,7 +38,7 @@ TEST(MotionDetection, motionAxis) {
//table_flat: phone was flat on the table and moved slowly forward/backward for 60 cm.
//std::string filename = getDataFile("motion/table_flat.csv");
FileReader fr(filename);
Offline::FileReader fr(filename);
K::Gnuplot gp;
K::GnuplotPlot plot;
@@ -52,14 +52,14 @@ TEST(MotionDetection, motionAxis) {
Timestamp lastTs;
//calc motion axis
for (const FileReader::Entry& e : fr.getEntries()) {
for (const Offline::Entry& e : fr.getEntries()) {
ts = Timestamp::fromMS(e.ts);
if (e.type == FileReader::Sensor::LIN_ACC) {
if (e.type == Offline::Sensor::LIN_ACC) {
md.addLinearAcceleration(ts, fr.getLinearAcceleration()[e.idx].data);
} else if (e.type == FileReader::Sensor::GRAVITY) {
} else if (e.type == Offline::Sensor::GRAVITY) {
md.addGravity(ts, fr.getGravity()[e.idx].data);
curVec = md.getCurrentMotionAxis();
motionAxisAngleRad = md.getMotionChangeInRad();
@@ -126,7 +126,7 @@ TEST(MotionDetection, motionAngle) {
//table_flat: phone was flat on the table and moved slowly forward/backward for 60 cm.
//std::string filename = getDataFile("motion/table_flat.csv");
FileReader fr(filename);
Offline::FileReader fr(filename);
Timestamp ts;
//save for later plotting
@@ -134,23 +134,23 @@ TEST(MotionDetection, motionAngle) {
std::vector<float> delta_turnAngles;
//calc motion axis
for (const FileReader::Entry& e : fr.getEntries()) {
for (const Offline::Entry& e : fr.getEntries()) {
ts = Timestamp::fromMS(e.ts);
if (e.type == FileReader::Sensor::LIN_ACC) {
if (e.type == Offline::Sensor::LIN_ACC) {
md.addLinearAcceleration(ts, fr.getLinearAcceleration()[e.idx].data);
} else if (e.type == FileReader::Sensor::GRAVITY) {
} else if (e.type == Offline::Sensor::GRAVITY) {
md.addGravity(ts, fr.getGravity()[e.idx].data);
delta_motionAngles.push_back(md.getMotionChangeInRad());
} else if (e.type == FileReader::Sensor::ACC) {
const FileReader::TS<AccelerometerData>& _acc = fr.getAccelerometer()[e.idx];
} else if (e.type == Offline::Sensor::ACC) {
const Offline::TS<AccelerometerData>& _acc = fr.getAccelerometer()[e.idx];
td.addAccelerometer(ts, _acc.data);
} else if (e.type == FileReader::Sensor::GYRO) {
const FileReader::TS<GyroscopeData>& _gyr = fr.getGyroscope()[e.idx];
} else if (e.type == Offline::Sensor::GYRO) {
const Offline::TS<GyroscopeData>& _gyr = fr.getGyroscope()[e.idx];
delta_turnAngles.push_back(td.addGyroscope(ts, _gyr.data));
}

89
tests/sensors/offline/TestReadWrite.cpp Normal file
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@@ -0,0 +1,89 @@
#ifdef WITH_TESTS
#include "../../Tests.h"
#include "../../../sensors/offline/FileReader.h"
#include "../../../sensors/offline/FileWriter.h"
TEST(Offline, readWrite) {
std::string fileName = "/tmp/test.dat";
Offline::FileWriter out;
out.open(fileName);
const GPSData gps(Timestamp::fromMS(1), 2, 3, 4);
out.add(Timestamp::fromMS(11), gps);
const CompassData compass(4, 2);
out.add(Timestamp::fromMS(13), compass);
const BarometerData baro(3);
out.add(Timestamp::fromMS(15), baro);
const AccelerometerData acc(3,4,5);
out.add(Timestamp::fromMS(17), acc);
const GravityData grav(5,9,7);
out.add(Timestamp::fromMS(19), grav);
const GyroscopeData gyro(8, 5,11);
out.add(Timestamp::fromMS(21), gyro);
const LinearAccelerationData lina(13, 12, 11);
out.add(Timestamp::fromMS(23), lina);
WiFiMeasurements w1;
w1.entries.push_back(WiFiMeasurement(AccessPoint(MACAddress("11:22:33:44:55:66")), -70));
w1.entries.push_back(WiFiMeasurement(AccessPoint(MACAddress("11:22:33:44:55:67")), -72));
w1.entries.push_back(WiFiMeasurement(AccessPoint(MACAddress("11:22:33:44:55:68")), -74));
out.add(Timestamp::fromMS(25), w1);
WiFiMeasurements w2;
w2.entries.push_back(WiFiMeasurement(AccessPoint(MACAddress("11:22:33:44:aa:66")), -60));
w2.entries.push_back(WiFiMeasurement(AccessPoint(MACAddress("11:22:33:44:aa:67")), -62));
w2.entries.push_back(WiFiMeasurement(AccessPoint(MACAddress("11:22:33:44:aa:68")), -64));
out.add(Timestamp::fromMS(27), w2);
out.close();
Offline::FileReader reader;
reader.open(fileName);
// check number of entries
ASSERT_EQ(1, reader.getGPS().size());
ASSERT_EQ(1, reader.getCompass().size());
ASSERT_EQ(1, reader.getBarometer().size());
ASSERT_EQ(1, reader.getAccelerometer().size());
ASSERT_EQ(1, reader.getGravity().size());
ASSERT_EQ(1, reader.getGyroscope().size());
ASSERT_EQ(1, reader.getLinearAcceleration().size());
ASSERT_EQ(2, reader.getWiFiGroupedByTime().size());
// check timestamps
ASSERT_EQ(11, reader.getGPS().front().ts);
ASSERT_EQ(13, reader.getCompass().front().ts);
ASSERT_EQ(15, reader.getBarometer().front().ts);
ASSERT_EQ(17, reader.getAccelerometer().front().ts);
ASSERT_EQ(19, reader.getGravity().front().ts);
ASSERT_EQ(21, reader.getGyroscope().front().ts);
ASSERT_EQ(23, reader.getLinearAcceleration().front().ts);
ASSERT_EQ(25, reader.getWiFiGroupedByTime().front().ts);
ASSERT_EQ(27, reader.getWiFiGroupedByTime().back().ts);
// check content
ASSERT_EQ(gps, reader.getGPS().front().data);
ASSERT_EQ(compass, reader.getCompass().front().data);
ASSERT_EQ(baro, reader.getBarometer().front().data);
ASSERT_EQ(acc, reader.getAccelerometer().front().data);
ASSERT_EQ(grav, reader.getGravity().front().data);
ASSERT_EQ(gyro, reader.getGyroscope().front().data);
ASSERT_EQ(lina, reader.getLinearAcceleration().front().data);
int i = 0; (void) i;
}
#endif