mirror of
https://github.com/wpilibsuite/allwpilib
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Clean up LinearDigitalFilter class (#782)
* Renamed LinearDigitalFilter to LinearFilter * Filter base class removed since it wasn't useful * C++: std::shared_ptr<> replaced with double parameter
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
311e2de4c1
commit
30e936837c
@@ -1,159 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.fixtures;
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import java.lang.reflect.ParameterizedType;
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import java.util.Random;
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import java.util.logging.Logger;
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import edu.wpi.first.wpilibj.PIDSource;
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import edu.wpi.first.wpilibj.PIDSourceType;
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import edu.wpi.first.wpilibj.test.TestBench;
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/**
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* Represents a physically connected Motor and Encoder to allow for unit tests on these different
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* pairs<br> Designed to allow the user to easily setup and tear down the fixture to allow for
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* reuse. This class should be explicitly instantiated in the TestBed class to allow any test to
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* access this fixture. This allows tests to be mailable so that you can easily reconfigure the
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* physical testbed without breaking the tests.
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*/
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public abstract class FilterNoiseFixture<T extends PIDSource> implements ITestFixture {
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private static final Logger logger = Logger.getLogger(FilterNoiseFixture.class.getName());
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private boolean m_initialized = false;
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private boolean m_tornDown = false;
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protected T m_filter;
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private NoiseGenerator m_data;
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/**
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* Where the implementer of this class should pass the filter constructor.
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*/
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protected abstract T giveFilter(PIDSource source);
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private void initialize() {
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synchronized (this) {
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if (!m_initialized) {
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m_initialized = true; // This ensures it is only initialized once
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m_data = new NoiseGenerator(TestBench.kStdDev) {
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@Override
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@SuppressWarnings("ParameterName")
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public double getData(double t) {
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return 100.0 * Math.sin(2.0 * Math.PI * t);
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}
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};
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m_filter = giveFilter(m_data);
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}
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}
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}
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@Override
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public boolean setup() {
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initialize();
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return true;
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}
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/**
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* Gets the filter for this Object.
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*
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* @return the filter this object refers too
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*/
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public T getFilter() {
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initialize();
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return m_filter;
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}
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/**
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* Gets the noise generator for this object.
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*
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* @return the noise generator that this object refers too
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*/
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public NoiseGenerator getNoiseGenerator() {
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initialize();
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return m_data;
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}
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/**
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* Retrieves the name of the filter that this object refers to.
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*
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* @return The simple name of the filter {@link Class#getSimpleName()}
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*/
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public String getType() {
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initialize();
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return m_filter.getClass().getSimpleName();
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}
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// test here?
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@Override
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public boolean reset() {
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return true;
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}
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@Override
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public boolean teardown() {
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return true;
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}
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@Override
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public String toString() {
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StringBuilder string = new StringBuilder("FilterNoiseFixture<");
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// Get the generic type as a class
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@SuppressWarnings("unchecked")
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Class<T> class1 =
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(Class<T>) ((ParameterizedType) getClass().getGenericSuperclass())
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.getActualTypeArguments()[0];
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string.append(class1.getSimpleName());
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string.append(">");
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return string.toString();
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}
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/**
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* Adds Gaussian white noise to a function returning data. The noise will have the standard
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* deviation provided in the constructor.
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*/
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public abstract class NoiseGenerator implements PIDSource {
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private double m_noise = 0.0;
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// Make sure first call to pidGet() uses count == 0
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private double m_count = -TestBench.kFilterStep;
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private double m_stdDev;
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private Random m_gen = new Random();
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NoiseGenerator(double stdDev) {
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m_stdDev = stdDev;
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}
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@SuppressWarnings("ParameterName")
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public abstract double getData(double t);
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@Override
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public void setPIDSourceType(PIDSourceType pidSource) {
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}
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@Override
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public PIDSourceType getPIDSourceType() {
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return PIDSourceType.kDisplacement;
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}
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public double get() {
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return getData(m_count) + m_noise;
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}
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@Override
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public double pidGet() {
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m_noise = m_gen.nextGaussian() * m_stdDev;
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m_count += TestBench.kFilterStep;
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return getData(m_count) + m_noise;
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}
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public void reset() {
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m_count = -TestBench.kFilterStep;
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}
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}
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}
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@@ -1,159 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.fixtures;
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import java.lang.reflect.ParameterizedType;
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import java.util.function.DoubleFunction;
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import java.util.logging.Logger;
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import edu.wpi.first.wpilibj.PIDSource;
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import edu.wpi.first.wpilibj.PIDSourceType;
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import edu.wpi.first.wpilibj.test.TestBench;
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/**
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* Represents a filter to allow for unit tests on them<br> Designed to allow the user to easily
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* setup and tear down the fixture to allow for reuse. This class should be explicitly instantiated
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* in the TestBed class to allow any test to access this fixture. This allows tests to be mailable
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* so that you can easily reconfigure the physical testbed without breaking the tests.
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*/
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public abstract class FilterOutputFixture<T extends PIDSource> implements ITestFixture {
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private static final Logger logger = Logger.getLogger(FilterOutputFixture.class.getName());
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private boolean m_initialized = false;
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private boolean m_tornDown = false;
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protected T m_filter;
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protected DataWrapper m_data;
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private double m_expectedOutput;
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public FilterOutputFixture(double expectedOutput) {
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m_expectedOutput = expectedOutput;
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}
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/**
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* Get expected output of fixture.
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*/
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public double getExpectedOutput() {
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return m_expectedOutput;
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}
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public static DoubleFunction<Double> getData = new DoubleFunction<Double>() {
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@Override
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@SuppressWarnings("ParameterName")
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public Double apply(double t) {
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return 100.0 * Math.sin(2.0 * Math.PI * t) + 20.0 * Math.cos(50.0 * Math.PI * t);
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}
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};
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public static DoubleFunction<Double> getPulseData = new DoubleFunction<Double>() {
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@Override
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@SuppressWarnings("ParameterName")
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public Double apply(double t) {
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if (Math.abs(t - 1.0) < 0.001) {
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return 1.0;
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} else {
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return 0.0;
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}
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}
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};
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/**
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* Where the implementer of this class should pass the filter constructor.
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*/
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protected abstract T giveFilter();
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private void initialize() {
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synchronized (this) {
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if (!m_initialized) {
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m_initialized = true; // This ensures it is only initialized once
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m_filter = giveFilter();
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}
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}
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}
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@Override
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public boolean setup() {
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initialize();
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return true;
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}
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/**
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* Gets the filter for this Object.
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*
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* @return the filter this object refers too
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*/
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public T getFilter() {
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initialize();
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return m_filter;
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}
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/**
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* Retrieves the name of the filter that this object refers to.
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*
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* @return The simple name of the filter {@link Class#getSimpleName()}
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*/
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public String getType() {
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initialize();
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return m_filter.getClass().getSimpleName();
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}
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@Override
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public boolean reset() {
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m_data.reset();
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return true;
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}
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@Override
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public boolean teardown() {
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return true;
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}
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@Override
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public String toString() {
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StringBuilder string = new StringBuilder("FilterOutputFixture<");
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// Get the generic type as a class
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@SuppressWarnings("unchecked")
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Class<T> class1 =
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(Class<T>) ((ParameterizedType) getClass().getGenericSuperclass())
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.getActualTypeArguments()[0];
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string.append(class1.getSimpleName());
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string.append(">");
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return string.toString();
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}
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public class DataWrapper implements PIDSource {
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// Make sure first call to pidGet() uses count == 0
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private double m_count = -TestBench.kFilterStep;
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private DoubleFunction<Double> m_func;
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public DataWrapper(DoubleFunction<Double> func) {
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m_func = func;
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}
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@Override
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public void setPIDSourceType(PIDSourceType pidSource) {
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}
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@Override
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public PIDSourceType getPIDSourceType() {
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return PIDSourceType.kDisplacement;
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}
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@Override
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public double pidGet() {
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m_count += TestBench.kFilterStep;
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return m_func.apply(m_count);
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}
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public void reset() {
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m_count = -TestBench.kFilterStep;
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}
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}
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}
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