mirror of https://github.com/ArduPilot/ardupilot
120 lines
3.9 KiB
Plaintext
120 lines
3.9 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// Unit tests for the AP_Math polygon code
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//
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_Param.h>
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#include <AP_Math.h>
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#include <AP_HAL.h>
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#include <AP_HAL_AVR.h>
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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/*
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* this is the boundary of the 2010 outback challenge
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* Note that the last point must be the same as the first for the
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* Polygon_outside() algorithm
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*/
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static const Vector2l OBC_boundary[] = {
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Vector2l(-265695640, 1518373730),
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Vector2l(-265699560, 1518394050),
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Vector2l(-265768230, 1518411420),
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Vector2l(-265773080, 1518403440),
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Vector2l(-265815110, 1518419500),
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Vector2l(-265784860, 1518474690),
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Vector2l(-265994890, 1518528860),
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Vector2l(-266092110, 1518747420),
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Vector2l(-266454780, 1518820530),
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Vector2l(-266435720, 1518303500),
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Vector2l(-265875990, 1518344050),
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Vector2l(-265695640, 1518373730)
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};
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static const struct {
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Vector2l point;
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bool outside;
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} test_points[] = {
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{ Vector2l(-266398870, 1518220000), true },
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{ Vector2l(-266418700, 1518709260), false },
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{ Vector2l(-350000000, 1490000000), true },
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{ Vector2l(0, 0), true },
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{ Vector2l(-265768150, 1518408250), false },
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{ Vector2l(-265774060, 1518405860), true },
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{ Vector2l(-266435630, 1518303440), true },
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{ Vector2l(-266435650, 1518313540), false },
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{ Vector2l(-266435690, 1518303530), false },
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{ Vector2l(-266435690, 1518303490), true },
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{ Vector2l(-265875990, 1518344049), true },
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{ Vector2l(-265875990, 1518344051), false },
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{ Vector2l(-266454781, 1518820530), true },
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{ Vector2l(-266454779, 1518820530), true },
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{ Vector2l(-266092109, 1518747420), true },
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{ Vector2l(-266092111, 1518747420), false },
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{ Vector2l(-266092110, 1518747421), true },
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{ Vector2l(-266092110, 1518747419), false },
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{ Vector2l(-266092111, 1518747421), true },
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{ Vector2l(-266092109, 1518747421), true },
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{ Vector2l(-266092111, 1518747419), false },
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};
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#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
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/*
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* polygon tests
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*/
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void setup(void)
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{
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unsigned i, count;
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bool all_passed = true;
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uint32_t start_time;
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hal.console->println("polygon unit tests\n");
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if (!Polygon_complete(OBC_boundary, ARRAY_LENGTH(OBC_boundary))) {
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hal.console->println("OBC boundary is not complete!");
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all_passed = false;
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}
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if (Polygon_complete(OBC_boundary, ARRAY_LENGTH(OBC_boundary)-1)) {
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hal.console->println("Polygon_complete test failed");
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all_passed = false;
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}
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for (i=0; i<ARRAY_LENGTH(test_points); i++) {
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bool result;
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result = Polygon_outside(test_points[i].point,
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OBC_boundary, ARRAY_LENGTH(OBC_boundary));
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hal.console->printf_P(PSTR("%10f,%10f %s %s\n"),
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1.0e-7*test_points[i].point.x,
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1.0e-7*test_points[i].point.y,
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result ? "OUTSIDE" : "INSIDE ",
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result == test_points[i].outside ? "PASS" : "FAIL");
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if (result != test_points[i].outside) {
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all_passed = false;
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}
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}
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hal.console->println(all_passed ? "TEST PASSED" : "TEST FAILED");
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hal.console->println("Speed test:");
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start_time = hal.scheduler->micros();
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for (count=0; count<1000; count++) {
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for (i=0; i<ARRAY_LENGTH(test_points); i++) {
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bool result;
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result = Polygon_outside(test_points[i].point,
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OBC_boundary, ARRAY_LENGTH(OBC_boundary));
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if (result != test_points[i].outside) {
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all_passed = false;
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}
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}
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}
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hal.console->printf("%u usec/call\n", (unsigned)((hal.scheduler->micros()
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- start_time)/(count*ARRAY_LENGTH(test_points))));
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hal.console->println(all_passed ? "ALL TESTS PASSED" : "TEST FAILED");
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}
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void loop(void){}
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AP_HAL_MAIN();
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