| #include <EGL/egl.h> |
| #include <GLES2/gl2.h> |
| #include <math.h> |
| |
| #include <base/logging.h> |
| #include <dvr/graphics.h> |
| #include <dvr/pose_client.h> |
| #include <gtest/gtest.h> |
| #include <private/dvr/types.h> |
| |
| using android::dvr::vec4; |
| |
| namespace { |
| |
| vec4 ToVec4(float32x4_t rhs) { return vec4(rhs[0], rhs[1], rhs[2], rhs[3]); } |
| |
| } |
| |
| DvrGraphicsContext* CreateContext() { |
| DvrGraphicsContext* context = nullptr; |
| int display_width = 0, display_height = 0; |
| int surface_width = 0, surface_height = 0; |
| float inter_lens_meters = 0.0f; |
| float left_fov[4] = {0.0f}; |
| float right_fov[4] = {0.0f}; |
| int disable_warp = 0; |
| DvrSurfaceParameter surface_params[] = { |
| DVR_SURFACE_PARAMETER_IN(DISABLE_DISTORTION, disable_warp), |
| DVR_SURFACE_PARAMETER_OUT(DISPLAY_WIDTH, &display_width), |
| DVR_SURFACE_PARAMETER_OUT(DISPLAY_HEIGHT, &display_height), |
| DVR_SURFACE_PARAMETER_OUT(SURFACE_WIDTH, &surface_width), |
| DVR_SURFACE_PARAMETER_OUT(SURFACE_HEIGHT, &surface_height), |
| DVR_SURFACE_PARAMETER_OUT(INTER_LENS_METERS, &inter_lens_meters), |
| DVR_SURFACE_PARAMETER_OUT(LEFT_FOV_LRBT, left_fov), |
| DVR_SURFACE_PARAMETER_OUT(RIGHT_FOV_LRBT, right_fov), |
| DVR_SURFACE_PARAMETER_LIST_END, |
| }; |
| dvrGraphicsContextCreate(surface_params, &context); |
| return context; |
| } |
| |
| TEST(SensorAppTests, GetPose) { |
| DvrGraphicsContext* context = CreateContext(); |
| ASSERT_NE(nullptr, context); |
| DvrPose* client = dvrPoseCreate(); |
| ASSERT_NE(nullptr, client); |
| |
| DvrPoseAsync last_pose; |
| uint32_t last_vsync_count = 0; |
| for (int i = 0; i < 10; ++i) { |
| DvrFrameSchedule schedule; |
| dvrGraphicsWaitNextFrame(context, 0, &schedule); |
| DvrPoseAsync pose; |
| int ret = dvrPoseGet(client, schedule.vsync_count, &pose); |
| ASSERT_EQ(0, ret); |
| |
| // Check for unit-length quaternion to verify valid pose. |
| vec4 quaternion = ToVec4(pose.orientation); |
| float length = quaternion.norm(); |
| EXPECT_GT(0.001, fabs(1.0f - length)); |
| |
| // Check for different data each frame, but skip first few to allow |
| // startup anomalies. |
| if (i > 0) { |
| if (last_vsync_count == schedule.vsync_count) |
| LOG(ERROR) << "vsync did not increment: " << schedule.vsync_count; |
| if (pose.timestamp_ns == last_pose.timestamp_ns) |
| LOG(ERROR) << "timestamp did not change: " << pose.timestamp_ns; |
| // TODO(jbates) figure out why the bots are not passing this check. |
| // EXPECT_NE(last_vsync_count, schedule.vsync_count); |
| // EXPECT_NE(pose.timestamp_ns, last_pose.timestamp_ns); |
| } |
| last_pose = pose; |
| last_vsync_count = schedule.vsync_count; |
| dvrBeginRenderFrame(context); |
| glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT); |
| dvrPresent(context); |
| } |
| |
| dvrPoseDestroy(client); |
| dvrGraphicsContextDestroy(context); |
| } |
| |
| TEST(SensorAppTests, PoseRingBuffer) { |
| DvrGraphicsContext* context = CreateContext(); |
| ASSERT_NE(nullptr, context); |
| DvrPose* client = dvrPoseCreate(); |
| ASSERT_NE(nullptr, client); |
| |
| DvrPoseRingBufferInfo info; |
| int ret = dvrPoseGetRingBuffer(client, &info); |
| ASSERT_EQ(0, ret); |
| ASSERT_NE(nullptr, info.buffer); |
| EXPECT_LE(2u, info.min_future_count); |
| EXPECT_LE(8u, info.total_count); |
| |
| DvrPoseAsync last_pose; |
| uint32_t last_vsync_count = 0; |
| for (int i = 0; i < 10; ++i) { |
| DvrFrameSchedule schedule; |
| dvrGraphicsWaitNextFrame(context, 0, &schedule); |
| DvrPoseAsync pose; |
| ret = dvrPoseGet(client, schedule.vsync_count, &pose); |
| ASSERT_EQ(0, ret); |
| |
| // Check for unit-length quaternion to verify valid pose. |
| vec4 quaternion = ToVec4(pose.orientation); |
| float length = quaternion.norm(); |
| EXPECT_GT(0.001, fabs(1.0f - length)); |
| |
| // Check for different data each frame, but skip first few to allow |
| // startup anomalies. |
| if (i > 0) { |
| if (last_vsync_count == schedule.vsync_count) |
| LOG(ERROR) << "vsync did not increment: " << schedule.vsync_count; |
| if (pose.timestamp_ns == last_pose.timestamp_ns) |
| LOG(ERROR) << "timestamp did not change: " << pose.timestamp_ns; |
| // TODO(jbates) figure out why the bots are not passing this check. |
| // EXPECT_NE(last_vsync_count, schedule.vsync_count); |
| // EXPECT_NE(pose.timestamp_ns, last_pose.timestamp_ns); |
| } |
| last_pose = pose; |
| last_vsync_count = schedule.vsync_count; |
| dvrBeginRenderFrame(context); |
| glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT); |
| dvrPresent(context); |
| } |
| |
| dvrPoseDestroy(client); |
| dvrGraphicsContextDestroy(context); |
| } |