FrankE
a2c9e575a2
- worked on about everything - grid walker using plugable modules - wifi models - new distributions - worked on geometric data-structures - added typesafe timestamps - worked on grid-building - added sensor-classes - added sensor analysis (step-detection, turn-detection) - offline data reader - many test-cases
126 lines
2.8 KiB
C++
126 lines
2.8 KiB
C++
#ifdef WITH_TESTS
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#include "../../Tests.h"
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#include "../../../sensors/pressure/RelativePressure.h"
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#include "../../../sensors/pressure/PressureTendence.h"
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#include <random>
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TEST(Barometer, relCalib) {
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RelativePressure baro;
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baro.setCalibrationTimeframe(Timestamp::fromMS(3000));
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ASSERT_EQ(0, baro.getBaseAvg());
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ASSERT_EQ(0, baro.getSigma());
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std::minstd_rand gen;
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std::normal_distribution<float> dist(930, 0.15);
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for (int i = 0; i <= 4000; i += 25) {
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const Timestamp ts = Timestamp::fromMS(i);
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baro.add(ts, BarometerData(dist(gen)));
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if (i < 3000) { // not yet calibrated
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ASSERT_EQ(0, baro.getBaseAvg());
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ASSERT_EQ(0, baro.getSigma());
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ASSERT_EQ(0, baro.getPressureRealtiveToStart());
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} else { // calibrated
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ASSERT_NEAR(930, baro.getBaseAvg(), 0.1);
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ASSERT_NEAR(0.15, baro.getSigma(), 0.02);
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}
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}
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// calibration OK?
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ASSERT_NEAR(930, baro.getBaseAvg(), 0.1);
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ASSERT_NEAR(0.15, baro.getSigma(), 0.02);
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// get a HUGE value realtive to the calibration
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baro.add(Timestamp::fromMS(9000), BarometerData(2000));
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ASSERT_NEAR(2000-930, baro.getPressureRealtiveToStart(), 0.1);
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// has no impact on calibration
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ASSERT_NEAR(930, baro.getBaseAvg(), 0.1);
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ASSERT_NEAR(0.15, baro.getSigma(), 0.02);
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baro.reset();
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// everything back to zero
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ASSERT_EQ(0, baro.getBaseAvg());
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ASSERT_EQ(0, baro.getSigma());
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ASSERT_EQ(0, baro.getPressureRealtiveToStart());
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}
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#include <fstream>
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TEST(Barometer, tendence) {
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std::ifstream inp ("/tmp/baro1.dat");
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const float timeframe = 5.0;
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PressureTendence tend(Timestamp::fromSec(timeframe));
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while (inp.is_open() && !inp.eof()) {
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int msec;
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float hPa;
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inp >> msec;
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inp >> hPa;
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tend.add(Timestamp::fromMS(msec), BarometerData(hPa));
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tend.get();
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}
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sleep(1000);
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}
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TEST(Barometer, tendence2) {
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const float timeframe = 5.0;
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PressureTendence tend(Timestamp::fromSec(timeframe));
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ASSERT_EQ(0, tend.get());
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const float noiseSigma = 0.04; // typical barometer noise
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const float start = 930; // start at 930 hPa
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const float incPerSec = 0.100; // and incremrent the pressure by 0.1 hPa per second
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float curhPa = start;
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// add zero-mean noise
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std::minstd_rand gen;
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std::normal_distribution<float> dist(0, noiseSigma);
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// 10 Hz for 30 seconds
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for (int i = 0; i < 30000; i += 100) {
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// next pressure (add increment)
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curhPa += sin(i/1200.0f) * 0.02;//incPerSec * 100 / 1000;
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// add noise
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float curhPaNoised = curhPa + dist(gen) + sin(i/200.0f)*0.1;
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// calculate tendence
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tend.add(Timestamp::fromMS(i), BarometerData(curhPaNoised));
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std::cout << "w/o noise: " << curhPa << "\twith noise: " << curhPaNoised << "\ttendence/sec:" << (tend.get()/timeframe) << std::endl;
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}
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sleep(1000);
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// tendence must be clear and smaller than the sigma
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ASSERT_NEAR(incPerSec * timeframe, tend.get(), noiseSigma);
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}
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#endif
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