apps/CtsVerifier/src/com/android/cts/verifier/sensors/RVCVXCheckTestActivity.java - platform/cts - Git at Google

 /*
  * Copyright (C) 2014 The Android Open Source Project
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
  *      http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */

 package com.android.cts.verifier.sensors;


 import android.hardware.cts.helpers.SensorTestStateNotSupportedException;
 import android.os.Bundle;

 import com.android.cts.verifier.sensors.base.SensorCtsVerifierTestActivity;
 import com.android.cts.verifier.sensors.helpers.OpenCVLibrary;

 import junit.framework.Assert;

 import android.content.Intent;

 import java.util.concurrent.CountDownLatch;

 /**
  * This test (Rotation Vector - Computer Vision Cross Check, or RXCVXCheck for short) verifies that
  * mobile device can detect the orientation of itself in a relatively accurate manner.
  *
  * Currently only ROTATION_VECTOR sensor is used.
  *
  */
 public class RVCVXCheckTestActivity
         extends SensorCtsVerifierTestActivity {
     public RVCVXCheckTestActivity() {
         super(RVCVXCheckTestActivity.class);
     }

     CountDownLatch mRecordActivityFinishedSignal = null;

     private static final int REQ_CODE_TXCVRECORD = 0x012345678;
     private static final boolean TEST_USING_DEBUGGING_DATA = false;
     private static final String PATH_DEBUGGING_DATA = "/sdcard/RXCVRecData/150313-014443/";

     private String mRecPath;

     RVCVXCheckAnalyzer.AnalyzeReport mReport = null;

     private boolean mRecordSuccessful = false;
     private boolean mOpenCVLoadSuccessful = false;


     /**
      * The activity setup collects all the required data for test cases.
      * This approach allows to test all sensors at once.
      */
     @Override
     protected void activitySetUp() throws InterruptedException {

         mRecPath = "";

         showUserMessage("Loading OpenCV Library...");
         int retry = 10;

         while(retry-->0) {
             try {
                 Thread.sleep(100);
             } catch (InterruptedException e) {
                 //
             }
             if (OpenCVLibrary.isLoaded()) {
                 break;
             }
         }
         if (!OpenCVLibrary.isLoaded()) {
             // failed requirement test
             clearText();
             return;
         }
         showUserMessage("OpenCV Library Successfully Loaded");

         mOpenCVLoadSuccessful = true;

         if (TEST_USING_DEBUGGING_DATA) {
             mRecPath = PATH_DEBUGGING_DATA;

             // assume the data is there already
             mRecordSuccessful = true;
         } else {
             showUserMessage("Take the test as instructed below:\n" +
                 "1. Print out the test pattern and place it on a "+
                    "horizontal surface.\n" +
                 "2. Start the test and align the yellow square on the screen "+
                    "roughly to the yellow sqaure.\n" +
                 "3. Follow the prompt to rotate the phone while keeping the "+
                    "entire test pattern inside view of camera. This requires " +
                    "orbiting the phone around and aiming the "+
                    "camera at the test pattern at the same time.\n" +
                 "4. Wait patiently for the analysis to finish.\n");

             waitForUserToContinue();

             // prepare sync signal
             mRecordActivityFinishedSignal = new CountDownLatch(1);

             // record both sensor and camera
             Intent intent = new Intent(this, RVCVRecordActivity.class);
             startActivityForResult(intent, REQ_CODE_TXCVRECORD);

             // wait for record finish
             mRecordActivityFinishedSignal.await();

             if ("".equals(mRecPath)) {
                 showUserMessage("Recording failed or exited prematurely.");
                 waitForUserToContinue();
             } else {
                 showUserMessage("Recording is done!");
                 showUserMessage("Result are in path: " + mRecPath);
                 mRecordSuccessful = true;
             }
         }


         if (mRecordSuccessful) {
             showUserMessage("Please wait for the analysis ... \n"+
                             "It may take a few minutes, you will be noted when "+
                             "its finished by sound and vibration. ");

             // Analysis of recorded video and sensor data using RVCXAnalyzer
             RVCVXCheckAnalyzer analyzer = new RVCVXCheckAnalyzer(mRecPath);
             mReport = analyzer.processDataSet();

             playSound();
             vibrate(500);

             if (mReport == null) {
                 showUserMessage("Analysis failed due to unknown reason!");
             } else {
                 if (mReport.error) {
                     showUserMessage("Analysis failed: " + mReport.reason);
                 } else {
                     showUserMessage(String.format("Analysis finished!\n" +
                                     "Roll error (Rms, max) = %4.3f, %4.3f rad\n" +
                                     "Pitch error (Rms, max) = %4.3f, %4.3f rad\n" +
                                     "Yaw error (Rms, max) = %4.3f, %4.3f rad\n" +
                                     "N of Frame (valid, total) = %d, %d\n" +
                                     "Sensor period (mean, stdev) = %4.3f, %4.3f ms\n" +
                                     "Time offset: %4.3f s \n" +
                                     "Yaw offset: %4.3f rad \n\n",
                             mReport.roll_rms_error, mReport.roll_max_error,
                             mReport.pitch_rms_error, mReport.pitch_max_error,
                             mReport.yaw_rms_error, mReport.yaw_max_error,
                             mReport.n_of_valid_frame, mReport.n_of_frame,
                             mReport.sensor_period_avg * 1000.0, mReport.sensor_period_stdev*1000.0,
                             mReport.optimal_delta_t, mReport.yaw_offset));
                     showUserMessage("Please click next after details reviewed.");
                     waitForUserToContinue();
                 }
             }
         }
         clearText();
     }

     /**
     Receiving the results from the RVCVRecordActivity, which is a patch where the recorded
     video and sensor data is stored.
     */
     @Override
     protected void onActivityResult(int requestCode, int resultCode, Intent data) {
         // Check which request we're responding to
         if (requestCode == REQ_CODE_TXCVRECORD) {
             // Make sure the request was successful

             if (resultCode == RESULT_OK) {
                 mRecPath = data.getData().getPath();
             }

             // notify it is finished
             mRecordActivityFinishedSignal.countDown();
         }
         super.onActivityResult(requestCode, resultCode, data);
     }

     /**
      * Test cases.
      */

     public String test00OpenCV() throws Throwable {

         String message = "OpenCV is loaded";
         Assert.assertTrue("OpenCV library cannot be loaded.", mOpenCVLoadSuccessful);
         return message;
     }


     public String test01Recording() throws Throwable {

         loadOpenCVSuccessfulOrSkip();

         String message = "Record is successful.";
         Assert.assertTrue("Record is not successful.", mRecordSuccessful);
         return message;
     }

     public String test02Analysis() throws Throwable {

         loadOpenCVSuccessfulOrSkip();
         recordSuccessfulOrSkip();

         String message = "Analysis result: " + mReport.reason;
         Assert.assertTrue(message, (mReport!=null && !mReport.error));
         return message;
     }

     public String test1RollAxis() throws Throwable {

         loadOpenCVSuccessfulOrSkip();
         recordSuccessfulOrSkip();
         analyzeSuccessfulOrSkip();

         String message = "Test Roll Axis Accuracy";

         Assert.assertEquals("Roll RMS error", 0.0, mReport.roll_rms_error, 0.15);
         Assert.assertEquals("Roll max error", 0.0, mReport.roll_max_error, 0.35);
         return message;
     }

     public String test2PitchAxis() throws Throwable {

         loadOpenCVSuccessfulOrSkip();
         recordSuccessfulOrSkip();
         analyzeSuccessfulOrSkip();

         String message = "Test Pitch Axis Accuracy";

         Assert.assertEquals("Pitch RMS error", 0.0, mReport.pitch_rms_error, 0.15);
         Assert.assertEquals("Pitch max error", 0.0, mReport.pitch_max_error, 0.35);
         return message;
     }

     public String test3YawAxis() throws Throwable {

         loadOpenCVSuccessfulOrSkip();
         recordSuccessfulOrSkip();
         analyzeSuccessfulOrSkip();

         String message = "Test Yaw Axis Accuracy";

         Assert.assertEquals("Yaw RMS error", 0.0, mReport.yaw_rms_error, 0.2);
         Assert.assertEquals("Yaw max error", 0.0, mReport.yaw_max_error, 0.4);
         return message;
     }

     public String test4SensorPeriod() throws Throwable {

         loadOpenCVSuccessfulOrSkip();
         recordSuccessfulOrSkip();
         analyzeSuccessfulOrSkip();

         String message = "Test Sensor Period";

         Assert.assertEquals("Sensor Period Mean", 5e-3, mReport.sensor_period_avg, 0.2e-3);
         Assert.assertEquals("Sensor Period Stdev", 0.0, mReport.sensor_period_stdev, 0.5e-3);
         return message;
     }

     private void loadOpenCVSuccessfulOrSkip() throws SensorTestStateNotSupportedException {
         if (!mOpenCVLoadSuccessful)
             throw new SensorTestStateNotSupportedException("Skipped due to OpenCV cannot be loaded");
     }

     private void recordSuccessfulOrSkip() throws SensorTestStateNotSupportedException {
         if (!mRecordSuccessful)
             throw new SensorTestStateNotSupportedException("Skipped due to record failure.");
     }

     private void analyzeSuccessfulOrSkip() throws SensorTestStateNotSupportedException {
         if (mReport == null || mReport.error)
             throw new SensorTestStateNotSupportedException("Skipped due to CV Analysis failure.");
     }

     /*
      *  This function serves as a proxy as showUserMessage is marked to be deprecated.
      *  When appendText is removed, this function will have a different implementation.
      *
      */
     void showUserMessage(String s) {
         appendText(s);
     }

     @Override
     protected void onCreate(Bundle savedInstanceState) {

         super.onCreate(savedInstanceState);

         // GlSurfaceView is not necessary for this test
         closeGlSurfaceView();

         OpenCVLibrary.loadAsync(this);
     }

     @Override
     protected void onPause() {
         super.onPause();
     }

     @Override
     protected void onResume() {
         super.onResume();

     }
 }
	/*
	* Copyright (C) 2014 The Android Open Source Project
	*
	* Licensed under the Apache License, Version 2.0 (the "License");
	* you may not use this file except in compliance with the License.
	* You may obtain a copy of the License at
	*
	* http://www.apache.org/licenses/LICENSE-2.0
	*
	* Unless required by applicable law or agreed to in writing, software
	* distributed under the License is distributed on an "AS IS" BASIS,
	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	* See the License for the specific language governing permissions and
	* limitations under the License.
	*/

	package com.android.cts.verifier.sensors;


	import android.hardware.cts.helpers.SensorTestStateNotSupportedException;
	import android.os.Bundle;

	import com.android.cts.verifier.sensors.base.SensorCtsVerifierTestActivity;
	import com.android.cts.verifier.sensors.helpers.OpenCVLibrary;

	import junit.framework.Assert;

	import android.content.Intent;

	import java.util.concurrent.CountDownLatch;

	/**
	* This test (Rotation Vector - Computer Vision Cross Check, or RXCVXCheck for short) verifies that
	* mobile device can detect the orientation of itself in a relatively accurate manner.
	*
	* Currently only ROTATION_VECTOR sensor is used.
	*
	*/
	public class RVCVXCheckTestActivity
	extends SensorCtsVerifierTestActivity {
	public RVCVXCheckTestActivity() {
	super(RVCVXCheckTestActivity.class);
	}

	CountDownLatch mRecordActivityFinishedSignal = null;

	private static final int REQ_CODE_TXCVRECORD = 0x012345678;
	private static final boolean TEST_USING_DEBUGGING_DATA = false;
	private static final String PATH_DEBUGGING_DATA = "/sdcard/RXCVRecData/150313-014443/";

	private String mRecPath;

	RVCVXCheckAnalyzer.AnalyzeReport mReport = null;

	private boolean mRecordSuccessful = false;
	private boolean mOpenCVLoadSuccessful = false;


	/**
	* The activity setup collects all the required data for test cases.
	* This approach allows to test all sensors at once.
	*/
	@Override
	protected void activitySetUp() throws InterruptedException {

	mRecPath = "";

	showUserMessage("Loading OpenCV Library...");
	int retry = 10;

	while(retry-->0) {
	try {
	Thread.sleep(100);
	} catch (InterruptedException e) {
	//
	}
	if (OpenCVLibrary.isLoaded()) {
	break;
	}
	}
	if (!OpenCVLibrary.isLoaded()) {
	// failed requirement test
	clearText();
	return;
	}
	showUserMessage("OpenCV Library Successfully Loaded");

	mOpenCVLoadSuccessful = true;

	if (TEST_USING_DEBUGGING_DATA) {
	mRecPath = PATH_DEBUGGING_DATA;

	// assume the data is there already
	mRecordSuccessful = true;
	} else {
	showUserMessage("Take the test as instructed below:\n" +
	"1. Print out the test pattern and place it on a "+
	"horizontal surface.\n" +
	"2. Start the test and align the yellow square on the screen "+
	"roughly to the yellow sqaure.\n" +
	"3. Follow the prompt to rotate the phone while keeping the "+
	"entire test pattern inside view of camera. This requires " +
	"orbiting the phone around and aiming the "+
	"camera at the test pattern at the same time.\n" +
	"4. Wait patiently for the analysis to finish.\n");

	waitForUserToContinue();

	// prepare sync signal
	mRecordActivityFinishedSignal = new CountDownLatch(1);

	// record both sensor and camera
	Intent intent = new Intent(this, RVCVRecordActivity.class);
	startActivityForResult(intent, REQ_CODE_TXCVRECORD);

	// wait for record finish
	mRecordActivityFinishedSignal.await();

	if ("".equals(mRecPath)) {
	showUserMessage("Recording failed or exited prematurely.");
	waitForUserToContinue();
	} else {
	showUserMessage("Recording is done!");
	showUserMessage("Result are in path: " + mRecPath);
	mRecordSuccessful = true;
	}
	}


	if (mRecordSuccessful) {
	showUserMessage("Please wait for the analysis ... \n"+
	"It may take a few minutes, you will be noted when "+
	"its finished by sound and vibration. ");

	// Analysis of recorded video and sensor data using RVCXAnalyzer
	RVCVXCheckAnalyzer analyzer = new RVCVXCheckAnalyzer(mRecPath);
	mReport = analyzer.processDataSet();

	playSound();
	vibrate(500);

	if (mReport == null) {
	showUserMessage("Analysis failed due to unknown reason!");
	} else {
	if (mReport.error) {
	showUserMessage("Analysis failed: " + mReport.reason);
	} else {
	showUserMessage(String.format("Analysis finished!\n" +
	"Roll error (Rms, max) = %4.3f, %4.3f rad\n" +
	"Pitch error (Rms, max) = %4.3f, %4.3f rad\n" +
	"Yaw error (Rms, max) = %4.3f, %4.3f rad\n" +
	"N of Frame (valid, total) = %d, %d\n" +
	"Sensor period (mean, stdev) = %4.3f, %4.3f ms\n" +
	"Time offset: %4.3f s \n" +
	"Yaw offset: %4.3f rad \n\n",
	mReport.roll_rms_error, mReport.roll_max_error,
	mReport.pitch_rms_error, mReport.pitch_max_error,
	mReport.yaw_rms_error, mReport.yaw_max_error,
	mReport.n_of_valid_frame, mReport.n_of_frame,
	mReport.sensor_period_avg * 1000.0, mReport.sensor_period_stdev*1000.0,
	mReport.optimal_delta_t, mReport.yaw_offset));
	showUserMessage("Please click next after details reviewed.");
	waitForUserToContinue();
	}
	}
	}
	clearText();
	}

	/**
	Receiving the results from the RVCVRecordActivity, which is a patch where the recorded
	video and sensor data is stored.
	*/
	@Override
	protected void onActivityResult(int requestCode, int resultCode, Intent data) {
	// Check which request we're responding to
	if (requestCode == REQ_CODE_TXCVRECORD) {
	// Make sure the request was successful

	if (resultCode == RESULT_OK) {
	mRecPath = data.getData().getPath();
	}

	// notify it is finished
	mRecordActivityFinishedSignal.countDown();
	}
	super.onActivityResult(requestCode, resultCode, data);
	}

	/**
	* Test cases.
	*/

	public String test00OpenCV() throws Throwable {

	String message = "OpenCV is loaded";
	Assert.assertTrue("OpenCV library cannot be loaded.", mOpenCVLoadSuccessful);
	return message;
	}


	public String test01Recording() throws Throwable {

	loadOpenCVSuccessfulOrSkip();

	String message = "Record is successful.";
	Assert.assertTrue("Record is not successful.", mRecordSuccessful);
	return message;
	}

	public String test02Analysis() throws Throwable {

	loadOpenCVSuccessfulOrSkip();
	recordSuccessfulOrSkip();

	String message = "Analysis result: " + mReport.reason;
	Assert.assertTrue(message, (mReport!=null && !mReport.error));
	return message;
	}

	public String test1RollAxis() throws Throwable {

	loadOpenCVSuccessfulOrSkip();
	recordSuccessfulOrSkip();
	analyzeSuccessfulOrSkip();

	String message = "Test Roll Axis Accuracy";

	Assert.assertEquals("Roll RMS error", 0.0, mReport.roll_rms_error, 0.15);
	Assert.assertEquals("Roll max error", 0.0, mReport.roll_max_error, 0.35);
	return message;
	}

	public String test2PitchAxis() throws Throwable {

	loadOpenCVSuccessfulOrSkip();
	recordSuccessfulOrSkip();
	analyzeSuccessfulOrSkip();

	String message = "Test Pitch Axis Accuracy";

	Assert.assertEquals("Pitch RMS error", 0.0, mReport.pitch_rms_error, 0.15);
	Assert.assertEquals("Pitch max error", 0.0, mReport.pitch_max_error, 0.35);
	return message;
	}

	public String test3YawAxis() throws Throwable {

	loadOpenCVSuccessfulOrSkip();
	recordSuccessfulOrSkip();
	analyzeSuccessfulOrSkip();

	String message = "Test Yaw Axis Accuracy";

	Assert.assertEquals("Yaw RMS error", 0.0, mReport.yaw_rms_error, 0.2);
	Assert.assertEquals("Yaw max error", 0.0, mReport.yaw_max_error, 0.4);
	return message;
	}

	public String test4SensorPeriod() throws Throwable {

	loadOpenCVSuccessfulOrSkip();
	recordSuccessfulOrSkip();
	analyzeSuccessfulOrSkip();

	String message = "Test Sensor Period";

	Assert.assertEquals("Sensor Period Mean", 5e-3, mReport.sensor_period_avg, 0.2e-3);
	Assert.assertEquals("Sensor Period Stdev", 0.0, mReport.sensor_period_stdev, 0.5e-3);
	return message;
	}

	private void loadOpenCVSuccessfulOrSkip() throws SensorTestStateNotSupportedException {
	if (!mOpenCVLoadSuccessful)
	throw new SensorTestStateNotSupportedException("Skipped due to OpenCV cannot be loaded");
	}

	private void recordSuccessfulOrSkip() throws SensorTestStateNotSupportedException {
	if (!mRecordSuccessful)
	throw new SensorTestStateNotSupportedException("Skipped due to record failure.");
	}

	private void analyzeSuccessfulOrSkip() throws SensorTestStateNotSupportedException {
	if (mReport == null \|\| mReport.error)
	throw new SensorTestStateNotSupportedException("Skipped due to CV Analysis failure.");
	}

	/*
	* This function serves as a proxy as showUserMessage is marked to be deprecated.
	* When appendText is removed, this function will have a different implementation.
	*
	*/
	void showUserMessage(String s) {
	appendText(s);
	}

	@Override
	protected void onCreate(Bundle savedInstanceState) {

	super.onCreate(savedInstanceState);

	// GlSurfaceView is not necessary for this test
	closeGlSurfaceView();

	OpenCVLibrary.loadAsync(this);
	}

	@Override
	protected void onPause() {
	super.onPause();
	}

	@Override
	protected void onResume() {
	super.onResume();

	}
	}