tests: lib: interpolation: added
Add tests for the linear interpolation math functions. Signed-off-by: Jordan Yates <jordan@embeint.com>
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Jordan Yates
Anas Nashif
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commit
291fc517e3
4 changed files with 187 additions and 0 deletions
9
tests/lib/math/interpolation/CMakeLists.txt
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tests/lib/math/interpolation/CMakeLists.txt
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# Copyright (c) 2024 Embeint Inc
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(interpolation)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})
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6
tests/lib/math/interpolation/prj.conf
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tests/lib/math/interpolation/prj.conf
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# Copyright (c) 2024 Embeint Inc
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_ZTEST=y
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# roundf support on Xtensa
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CONFIG_REQUIRES_FULL_LIBC=y
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165
tests/lib/math/interpolation/src/main.c
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tests/lib/math/interpolation/src/main.c
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/*
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* Copyright (c) 2024 Embeint Inc
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <math.h>
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#include <zephyr/ztest.h>
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#include <zephyr/math/interpolation.h>
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ZTEST(interpolation, test_interpolation_oob)
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{
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int32_t x_axis[] = {10, 20, 30, 40, 50};
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int32_t y_axis[] = {20, 22, 24, 28, 36};
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uint8_t len = ARRAY_SIZE(x_axis);
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zassert_equal(ARRAY_SIZE(x_axis), ARRAY_SIZE(y_axis));
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zassert_equal(y_axis[0], linear_interpolate(x_axis, y_axis, len, INT32_MIN));
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zassert_equal(y_axis[0], linear_interpolate(x_axis, y_axis, len, -1));
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zassert_equal(y_axis[0], linear_interpolate(x_axis, y_axis, len, 0));
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zassert_equal(y_axis[0], linear_interpolate(x_axis, y_axis, len, x_axis[0] - 1));
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zassert_equal(y_axis[4], linear_interpolate(x_axis, y_axis, len, x_axis[4] + 1));
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zassert_equal(y_axis[4], linear_interpolate(x_axis, y_axis, len, 100));
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zassert_equal(y_axis[4], linear_interpolate(x_axis, y_axis, len, INT32_MAX));
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}
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ZTEST(interpolation, test_interpolation_on_boundary)
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{
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int32_t x_axis[] = {10, 20, 30, 40, 50};
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int32_t y_axis[] = {20, 22, 24, 28, 36};
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uint8_t len = ARRAY_SIZE(x_axis);
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zassert_equal(ARRAY_SIZE(x_axis), ARRAY_SIZE(y_axis));
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/* Looking up x_axis values should return corresponding y_axis */
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for (int i = 0; i < ARRAY_SIZE(x_axis); i++) {
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zassert_equal(y_axis[i], linear_interpolate(x_axis, y_axis, len, x_axis[i]));
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}
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}
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ZTEST(interpolation, test_interpolation_rounding)
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{
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int32_t y_axis[] = {0, 1, 2};
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int32_t x_axis[] = {0, 10, 20};
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uint8_t len = ARRAY_SIZE(x_axis);
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zassert_equal(ARRAY_SIZE(x_axis), ARRAY_SIZE(y_axis));
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/* 0 to 4 -> 0 */
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for (int i = 0; i < 5; i++) {
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zassert_equal(0, linear_interpolate(x_axis, y_axis, len, i));
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}
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/* 5 to 14 -> 1 */
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for (int i = 5; i < 15; i++) {
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zassert_equal(1, linear_interpolate(x_axis, y_axis, len, i));
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}
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/* 15 to N -> 2 */
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for (int i = 15; i <= 20; i++) {
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zassert_equal(2, linear_interpolate(x_axis, y_axis, len, i));
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}
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}
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ZTEST(interpolation, test_interpolation_simple)
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{
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int32_t y_axis[] = {0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100};
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int32_t x_axis[] = {2000, 2100, 2200, 2300, 2400, 2500, 2600, 2700, 2800, 2900, 3000};
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uint8_t len = ARRAY_SIZE(x_axis);
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int32_t expected;
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zassert_equal(ARRAY_SIZE(x_axis), ARRAY_SIZE(y_axis));
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/* y = (x - 2000) / 10 */
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for (int i = x_axis[0]; i <= x_axis[1]; i++) {
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expected = round((i - 2000.0) / 10.0);
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zassert_equal(expected, linear_interpolate(x_axis, y_axis, len, i));
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}
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}
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ZTEST(interpolation, test_interpolation_negative_y)
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{
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int32_t y_axis[] = {-100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0};
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int32_t x_axis[] = {2000, 2100, 2200, 2300, 2400, 2500, 2600, 2700, 2800, 2900, 3000};
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uint8_t len = ARRAY_SIZE(x_axis);
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int32_t expected;
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zassert_equal(ARRAY_SIZE(x_axis), ARRAY_SIZE(y_axis));
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/* y = ((x - 2000) / 10) - 100 */
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for (int i = x_axis[0]; i <= x_axis[len - 1]; i++) {
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expected = round((i - 2000.0) / 10.0 - 100.0);
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zassert_equal(expected, linear_interpolate(x_axis, y_axis, len, i));
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}
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}
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ZTEST(interpolation, test_interpolation_negative_x)
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{
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int32_t y_axis[] = {0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100};
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int32_t x_axis[] = {-3000, -2900, -2800, -2700, -2600, -2500,
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-2400, -2300, -2200, -2100, -2000};
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uint8_t len = ARRAY_SIZE(x_axis);
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int32_t expected;
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zassert_equal(ARRAY_SIZE(x_axis), ARRAY_SIZE(y_axis));
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/* y = ((x + 3000) / 10) */
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for (int i = x_axis[0]; i <= x_axis[len - 1]; i++) {
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expected = round((i + 3000.0) / 10.0);
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zassert_equal(expected, linear_interpolate(x_axis, y_axis, len, i));
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}
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}
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ZTEST(interpolation, test_interpolation_negative_xy)
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{
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int32_t y_axis[] = {-100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0};
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int32_t x_axis[] = {-3000, -2900, -2800, -2700, -2600, -2500,
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-2400, -2300, -2200, -2100, -2000};
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uint8_t len = ARRAY_SIZE(x_axis);
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int32_t expected;
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zassert_equal(ARRAY_SIZE(x_axis), ARRAY_SIZE(y_axis));
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/* y = ((x + 3000) / 10) - 100 */
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for (int i = x_axis[0]; i <= x_axis[len - 1]; i++) {
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expected = round((i + 3000.0) / 10.0 - 100.0);
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zassert_equal(expected, linear_interpolate(x_axis, y_axis, len, i));
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}
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}
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ZTEST(interpolation, test_interpolation_piecewise)
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{
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int32_t y_axis[] = {10, 30, 110, 40, 0};
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int32_t x_axis[] = {100, 150, 200, 250, 300};
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uint8_t len = ARRAY_SIZE(x_axis);
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int32_t expected;
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zassert_equal(ARRAY_SIZE(x_axis), ARRAY_SIZE(y_axis));
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/* First line segment, y = 0.4x - 30 */
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for (int i = x_axis[0]; i <= x_axis[1]; i++) {
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expected = round(0.4 * i - 30.0);
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zassert_equal(expected, linear_interpolate(x_axis, y_axis, len, i));
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}
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/* Second line segment, y = 1.6x - 210 */
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for (int i = x_axis[1]; i <= x_axis[2]; i++) {
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expected = round(1.6 * i - 210.0);
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zassert_equal(expected, linear_interpolate(x_axis, y_axis, len, i));
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}
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/* Third line segment, y = 390 - 1.4x */
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for (int i = x_axis[2]; i <= x_axis[3]; i++) {
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expected = round(390.0 - 1.4 * i);
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zassert_equal(expected, linear_interpolate(x_axis, y_axis, len, i));
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}
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/* Fourth line segment, y = 240 - 0.8x */
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for (int i = x_axis[3]; i <= x_axis[4]; i++) {
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expected = round(240.0 - 0.8 * i);
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zassert_equal(expected, linear_interpolate(x_axis, y_axis, len, i));
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}
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}
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ZTEST_SUITE(interpolation, NULL, NULL, NULL, NULL, NULL);
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7
tests/lib/math/interpolation/testcase.yaml
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7
tests/lib/math/interpolation/testcase.yaml
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# Copyright (c) 2024 Embeint Inc
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# SPDX-License-Identifier: Apache-2.0
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tests:
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math.interpolation:
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integration_platforms:
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- native_sim
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