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Add return-to-zero test for LinearDigitalFilter moving average (#751)

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Ensures LinearDigitalFilter moving average returns to zero after non-zero
values are inserted.

Tests for issue #642
This commit is contained in:
Tyler Veness
2017-11-19 20:16:09 -08:00
committed by Peter Johnson
parent 11f37683c3
commit 7a0dd9baa9
4 changed files with 89 additions and 39 deletions
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61
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FilterOutputFixture.java
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@@ -8,6 +8,7 @@
package edu.wpi.first.wpilibj.fixtures;
import java.lang.reflect.ParameterizedType;
import java.util.function.DoubleFunction;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.PIDSource;
@@ -15,11 +16,10 @@ import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.test.TestBench;
/**
* Represents a filterphysically connected Motor and Encoder to allow for unit tests on these
* different pairs<br> Designed to allow the user to easily setup and tear down the fixture to allow
* for reuse. This class should be explicitly instantiated in the TestBed class to allow any test to
* access this fixture. This allows tests to be mailable so that you can easily reconfigure the
* physical testbed without breaking the tests.
* Represents a filter to allow for unit tests on them<br> Designed to allow the user to easily
* setup and tear down the fixture to allow for reuse. This class should be explicitly instantiated
* in the TestBed class to allow any test to access this fixture. This allows tests to be mailable
* so that you can easily reconfigure the physical testbed without breaking the tests.
*/
public abstract class FilterOutputFixture<T extends PIDSource> implements ITestFixture {
private static final Logger logger = Logger.getLogger(FilterOutputFixture.class.getName());
@@ -40,24 +40,37 @@ public abstract class FilterOutputFixture<T extends PIDSource> implements ITestF
return m_expectedOutput;
}
public static DoubleFunction<Double> getData = new DoubleFunction<Double>() {
@Override
@SuppressWarnings("ParameterName")
public Double apply(double t) {
return 100.0 * Math.sin(2.0 * Math.PI * t) + 20.0 * Math.cos(50.0 * Math.PI * t);
}
};
public static DoubleFunction<Double> getPulseData = new DoubleFunction<Double>() {
@Override
@SuppressWarnings("ParameterName")
public Double apply(double t) {
if (Math.abs(t - 1.0) < 0.001) {
return 1.0;
} else {
return 0.0;
}
}
};
/**
* Where the implementer of this class should pass the filter constructor.
*/
protected abstract T giveFilter(PIDSource source);
protected abstract T giveFilter();
private void initialize() {
synchronized (this) {
if (!m_initialized) {
m_initialized = true; // This ensures it is only initialized once
m_data = new DataWrapper() {
@Override
@SuppressWarnings("ParameterName")
public double getData(double t) {
return 100.0 * Math.sin(2.0 * Math.PI * t) + 20.0 * Math.cos(50.0 * Math.PI * t);
}
};
m_filter = giveFilter(m_data);
m_filter = giveFilter();
}
}
}
@@ -78,16 +91,6 @@ public abstract class FilterOutputFixture<T extends PIDSource> implements ITestF
return m_filter;
}
/**
* Gets the data wrapper for this object.
*
* @return the data wrapper that this object refers too
*/
public DataWrapper getDataWrapper() {
initialize();
return m_data;
}
/**
* Retrieves the name of the filter that this object refers to.
*
@@ -122,13 +125,15 @@ public abstract class FilterOutputFixture<T extends PIDSource> implements ITestF
return string.toString();
}
public abstract class DataWrapper implements PIDSource {
public class DataWrapper implements PIDSource {
// Make sure first call to pidGet() uses count == 0
private double m_count = -TestBench.kFilterStep;
@SuppressWarnings("ParameterName")
public abstract double getData(double t);
private DoubleFunction<Double> m_func;
public DataWrapper(DoubleFunction<Double> func) {
m_func = func;
}
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
@@ -144,7 +149,7 @@ public abstract class FilterOutputFixture<T extends PIDSource> implements ITestF
@Override
public double pidGet() {
m_count += TestBench.kFilterStep;
return getData(m_count);
return m_func.apply(m_count);
}
public void reset() {