libs/vr/libvrsensor/tests/sensor_app_tests.cpp

   1 #include <EGL/egl.h>
   2 #include <GLES2/gl2.h>
   3 #include <math.h>
   4 #include <inttypes.h>
   5
   6 #include <dvr/graphics.h>
   7 #include <dvr/pose_client.h>
   8 #include <gtest/gtest.h>
   9 #include <log/log.h>
  10 #include <private/dvr/types.h>
  11
  12 using android::dvr::vec4;
  13
  14 namespace {
  15
  16 vec4 ToVec4(float32x4_t rhs) { return vec4(rhs[0], rhs[1], rhs[2], rhs[3]); }
  17
  18 }
  19
  20 DvrGraphicsContext* CreateContext() {
  21   DvrGraphicsContext* context = nullptr;
  22   int display_width = 0, display_height = 0;
  23   int surface_width = 0, surface_height = 0;
  24   float inter_lens_meters = 0.0f;
  25   float left_fov[4] = {0.0f};
  26   float right_fov[4] = {0.0f};
  27   int disable_warp = 0;
  28   DvrSurfaceParameter surface_params[] = {
  29       DVR_SURFACE_PARAMETER_IN(DISABLE_DISTORTION, disable_warp),
  30       DVR_SURFACE_PARAMETER_OUT(DISPLAY_WIDTH, &display_width),
  31       DVR_SURFACE_PARAMETER_OUT(DISPLAY_HEIGHT, &display_height),
  32       DVR_SURFACE_PARAMETER_OUT(SURFACE_WIDTH, &surface_width),
  33       DVR_SURFACE_PARAMETER_OUT(SURFACE_HEIGHT, &surface_height),
  34       DVR_SURFACE_PARAMETER_OUT(INTER_LENS_METERS, &inter_lens_meters),
  35       DVR_SURFACE_PARAMETER_OUT(LEFT_FOV_LRBT, left_fov),
  36       DVR_SURFACE_PARAMETER_OUT(RIGHT_FOV_LRBT, right_fov),
  37       DVR_SURFACE_PARAMETER_LIST_END,
  38   };
  39   dvrGraphicsContextCreate(surface_params, &context);
  40   return context;
  41 }
  42
  43 TEST(SensorAppTests, GetPose) {
  44   DvrGraphicsContext* context = CreateContext();
  45   ASSERT_NE(nullptr, context);
  46   DvrPose* client = dvrPoseCreate();
  47   ASSERT_NE(nullptr, client);
  48
  49   DvrPoseAsync last_pose;
  50   uint32_t last_vsync_count = 0;
  51   for (int i = 0; i < 10; ++i) {
  52     DvrFrameSchedule schedule;
  53     dvrGraphicsWaitNextFrame(context, 0, &schedule);
  54     DvrPoseAsync pose;
  55     int ret = dvrPoseGet(client, schedule.vsync_count, &pose);
  56     ASSERT_EQ(0, ret);
  57
  58     // Check for unit-length quaternion to verify valid pose.
  59     vec4 quaternion = ToVec4(pose.orientation);
  60     float length = quaternion.norm();
  61     EXPECT_GT(0.001, fabs(1.0f - length));
  62
  63     // Check for different data each frame, but skip first few to allow
  64     // startup anomalies.
  65     if (i > 0) {
  66       if (last_vsync_count == schedule.vsync_count)
  67         ALOGE("vsync did not increment: %u", schedule.vsync_count);
  68       if (pose.timestamp_ns == last_pose.timestamp_ns)
  69         ALOGE("timestamp did not change: %" PRIu64, pose.timestamp_ns);
  70       // TODO(jbates) figure out why the bots are not passing this check.
  71       // EXPECT_NE(last_vsync_count, schedule.vsync_count);
  72       // EXPECT_NE(pose.timestamp_ns, last_pose.timestamp_ns);
  73     }
  74     last_pose = pose;
  75     last_vsync_count = schedule.vsync_count;
  76     dvrBeginRenderFrame(context);
  77     glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
  78     dvrPresent(context);
  79   }
  80
  81   dvrPoseDestroy(client);
  82   dvrGraphicsContextDestroy(context);
  83 }
  84
  85 TEST(SensorAppTests, PoseRingBuffer) {
  86   DvrGraphicsContext* context = CreateContext();
  87   ASSERT_NE(nullptr, context);
  88   DvrPose* client = dvrPoseCreate();
  89   ASSERT_NE(nullptr, client);
  90
  91   DvrPoseRingBufferInfo info;
  92   int ret = dvrPoseGetRingBuffer(client, &info);
  93   ASSERT_EQ(0, ret);
  94   ASSERT_NE(nullptr, info.buffer);
  95   EXPECT_LE(2u, info.min_future_count);
  96   EXPECT_LE(8u, info.total_count);
  97
  98   DvrPoseAsync last_pose;
  99   uint32_t last_vsync_count = 0;
 100   for (int i = 0; i < 10; ++i) {
 101     DvrFrameSchedule schedule;
 102     dvrGraphicsWaitNextFrame(context, 0, &schedule);
 103     DvrPoseAsync pose;
 104     ret = dvrPoseGet(client, schedule.vsync_count, &pose);
 105     ASSERT_EQ(0, ret);
 106
 107     // Check for unit-length quaternion to verify valid pose.
 108     vec4 quaternion = ToVec4(pose.orientation);
 109     float length = quaternion.norm();
 110     EXPECT_GT(0.001, fabs(1.0f - length));
 111
 112     // Check for different data each frame, but skip first few to allow
 113     // startup anomalies.
 114     if (i > 0) {
 115       if (last_vsync_count == schedule.vsync_count)
 116         ALOGE("vsync did not increment: %u", schedule.vsync_count);
 117       if (pose.timestamp_ns == last_pose.timestamp_ns)
 118         ALOGE("timestamp did not change: %" PRIu64, pose.timestamp_ns);
 119       // TODO(jbates) figure out why the bots are not passing this check.
 120       // EXPECT_NE(last_vsync_count, schedule.vsync_count);
 121       // EXPECT_NE(pose.timestamp_ns, last_pose.timestamp_ns);
 122     }
 123     last_pose = pose;
 124     last_vsync_count = schedule.vsync_count;
 125     dvrBeginRenderFrame(context);
 126     glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 127     dvrPresent(context);
 128   }
 129
 130   dvrPoseDestroy(client);
 131   dvrGraphicsContextDestroy(context);
 132 }