/*
 * 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 android.hardware.cts;

import android.content.Context;
import android.hardware.Sensor;
import android.hardware.SensorManager;
import android.hardware.cts.helpers.SensorCtsHelper;
import android.hardware.cts.helpers.SensorStats;
import android.hardware.cts.helpers.TestSensorEnvironment;
import android.hardware.cts.helpers.sensoroperations.TestSensorOperation;
import android.content.pm.PackageManager;

import java.util.HashMap;
import java.util.Map;
import java.util.Map.Entry;
import java.util.concurrent.TimeUnit;

/**
 * Set of tests to verify that sensors operate correctly when operating alone.
 * <p>
 * To execute these test cases, the following command can be used:
 * </p><pre>
 * adb shell am instrument -e class android.hardware.cts.SingleSensorTests \
 *     -w android.hardware.cts/android.test.AndroidJUnitRunner
 * </pre><p>
 * For each sensor that reports continuously, it takes a set of samples. The test suite verifies
 * that the event ordering, frequency, and jitter pass for the collected sensor events. It
 * additionally tests that the mean, standard deviation, and magnitude are correct for the sensor
 * event values, where applicable for a device in a static environment.
 * </p><p>
 * The event ordering test verifies the ordering of the sampled data reported by the Sensor under
 * test. This test is used to guarantee that sensor data is reported in the order it occurs, and
 * that events are always reported in order. It verifies that each event's timestamp is in the
 * future compared with the previous event. At the end of the validation, the full set of events is
 * verified to be ordered by timestamp as they are generated. The test can be susceptible to errors
 * if the sensor sampled data is not timestamped at the hardware level. Or events sampled at high
 * rates are added to the FIFO without controlling the appropriate ordering of the events.
 * </p><p>
 * The frequency test verifies that the sensor under test can sample and report data at the maximum
 * frequency (sampling rate) it advertises. The frequency between events is calculated by looking at
 * the delta between the timestamps associated with each event to get the period. The test is
 * susceptible to errors if the sensor is not capable to sample data at the maximum rate it
 * supports, or the sensor events are not timestamped at the hardware level.
 * </p><p>
 * The jitter test verifies that the event jittering associated with the sampled data reported by
 * the sensor under test aligns with the requirements imposed in the CDD. This test characterizes
 * how the sensor behaves while sampling data at a specific rate. It compares the 95th percentile of
 * the jittering with a certain percentage of the minimum period. The test is susceptible to errors
 * if the sensor events are not timestamped at the hardware level.
 * </p><p>
 * The mean test verifies that the mean of a set of sampled data from a particular sensor falls into
 * the expectations defined in the CDD. The verification applies to each axis of the sampled data
 * reported by the sensor under test. This test is used to validate the requirement imposed by the
 * CDD to Sensors in Android and characterizes how the Sensor behaves while static. The test is
 * susceptible to errors if the device is moving while the test is running, or if the sensor's
 * sampled data indeed varies from the expected mean.
 * </p><p>
 * The magnitude test verifies that the magnitude of the sensor data is close to the expected
 * reference value. The units of the reference value are dependent on the type of sensor.
 * This test is used to verify that the data reported by the sensor is close to the expected
 * range and scale. The test calculates the Euclidean norm of the vector represented by the sampled
 * data and compares it against the test expectations. The test is susceptible to errors when the
 * sensor under test is uncalibrated, or the units between the data and expectations are different.
 * </p><p>
 * The standard deviation test verifies that the standard deviation of a set of sampled data from a
 * particular sensor falls into the expectations defined in the CDD. The verification applies to
 * each axis of the sampled data reported by the sensor under test. This test is used to validate
 * the requirement imposed by the CDD to Sensors in Android and characterizes how the Sensor behaves
 * while static. The test is susceptible to errors if the device is moving while the test is
 * running, or if the sensor's sampled data indeed falls into a large standard deviation.
 * </p>
 */
public class SingleSensorTests extends SensorTestCase {
    private static final String TAG = "SingleSensorTests";

    private static final int RATE_200HZ = 5000;
    private static final int RATE_100HZ = 10000;
    private static final int RATE_50HZ = 20000;
    private static final int RATE_25HZ = 40000;
    private static final int RATE_15HZ = 66667;
    private static final int RATE_10HZ = 100000;
    private static final int RATE_5HZ = 200000;
    private static final int RATE_1HZ = 1000000;

    /**
     * This test verifies that the sensor's properties complies with the required properties set in
     * the CDD.
     * <p>
     * It checks that the sampling rate advertised by the sensor under test matches that which is
     * required by the CDD.
     * </p>
     */
    public void testSensorProperties() {
        // sensor type: [getMinDelay()]
        Map<Integer, Object[]> expectedProperties = new HashMap<>(3);
        if(getContext().getPackageManager().hasSystemFeature(PackageManager.FEATURE_WATCH)) {
                expectedProperties.put(Sensor.TYPE_ACCELEROMETER, new Object[]{20000});
                expectedProperties.put(Sensor.TYPE_GYROSCOPE, new Object[]{20000});
        }else {
                expectedProperties.put(Sensor.TYPE_ACCELEROMETER, new Object[]{10000});
                expectedProperties.put(Sensor.TYPE_GYROSCOPE, new Object[]{10000});
        }
        expectedProperties.put(Sensor.TYPE_MAGNETIC_FIELD, new Object[]{100000});

        SensorManager sensorManager =
                (SensorManager) getContext().getSystemService(Context.SENSOR_SERVICE);
        assertNotNull("SensorManager not present in the system.", sensorManager);
        for (Entry<Integer, Object[]> entry : expectedProperties.entrySet()) {
            Sensor sensor = sensorManager.getDefaultSensor(entry.getKey());
            if (sensor != null) {
                if (entry.getValue()[0] != null) {
                    int expected = (Integer) entry.getValue()[0];
                    String msg = String.format(
                            "%s: min delay %dus expected to be less than or equal to %dus",
                            sensor.getName(),
                            sensor.getMinDelay(),
                            expected);
                    assertTrue(msg, sensor.getMinDelay() <= expected);
                }
            }
        }
    }

    // TODO: Figure out if a better way to enumerate test cases programmatically exists that works
    // with CTS framework.
    public void testAccelerometer_fastest() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER, SensorManager.SENSOR_DELAY_FASTEST);
    }

    public void testAccelerometer_200hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER, RATE_200HZ);
    }

    public void testAccelerometer_100hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER, RATE_100HZ);
    }

    public void testAccelerometer_50hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER, RATE_50HZ);
    }

    public void testAccelerometer_25hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER, RATE_25HZ);
    }

    public void testAccelerometer_15hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER, RATE_15HZ);
    }

    public void testAccelerometer_10hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER, RATE_10HZ);
    }

    public void testAccelerometer_5hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER, RATE_5HZ);
    }

    public void testAccelerometer_1hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER, RATE_1HZ);
    }

    public void testAccelUncalibrated_fastest() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER_UNCALIBRATED, SensorManager.SENSOR_DELAY_FASTEST);
    }

    public void testAccelUncalibrated_200hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER_UNCALIBRATED, RATE_200HZ);
    }

    public void testAccelUncalibrated_100hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER_UNCALIBRATED, RATE_100HZ);
    }

    public void testAccelUncalibrated_50hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER_UNCALIBRATED, RATE_50HZ);
    }

    public void testAccelUncalibrated_25hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER_UNCALIBRATED, RATE_25HZ);
    }

    public void testAccelUncalibrated_15hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER_UNCALIBRATED, RATE_15HZ);
    }

    public void testAccelUncalibrated_10hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER_UNCALIBRATED, RATE_10HZ);
    }

    public void testAccelUncalibrated_5hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER_UNCALIBRATED, RATE_5HZ);
    }

    public void testAccelUncalibrated_1hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ACCELEROMETER_UNCALIBRATED, RATE_1HZ);
    }

    public void testMagneticField_fastest() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD, SensorManager.SENSOR_DELAY_FASTEST);
    }

    public void testMagneticField_200hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD, RATE_200HZ);
    }

    public void testMagneticField_100hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD, RATE_100HZ);
    }

    public void testMagneticField_50hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD, RATE_50HZ);
    }

    public void testMagneticField_25hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD, RATE_25HZ);
    }

    public void testMagneticField_15hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD, RATE_15HZ);
    }

    public void testMagneticField_10hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD, RATE_10HZ);
    }

    public void testMagneticField_5hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD, RATE_5HZ);
    }

    public void testMagneticField_1hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD, RATE_1HZ);
    }

    @SuppressWarnings("deprecation")
    public void testOrientation_fastest() throws Throwable {
        runSensorTest(Sensor.TYPE_ORIENTATION, SensorManager.SENSOR_DELAY_FASTEST);
    }

    @SuppressWarnings("deprecation")
    public void testOrientation_200hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ORIENTATION, RATE_200HZ);
    }
    @SuppressWarnings("deprecation")
    public void testOrientation_100hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ORIENTATION, RATE_100HZ);
    }

    @SuppressWarnings("deprecation")
    public void testOrientation_50hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ORIENTATION, RATE_50HZ);
    }

    @SuppressWarnings("deprecation")
    public void testOrientation_25hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ORIENTATION, RATE_25HZ);
    }

    @SuppressWarnings("deprecation")
    public void testOrientation_15hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ORIENTATION, RATE_15HZ);
    }

    @SuppressWarnings("deprecation")
    public void testOrientation_10hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ORIENTATION, RATE_10HZ);
    }

    @SuppressWarnings("deprecation")
    public void testOrientation_5hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ORIENTATION, RATE_5HZ);
    }

    @SuppressWarnings("deprecation")
    public void testOrientation_1hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ORIENTATION, RATE_1HZ);
    }

    public void testGyroscope_fastest() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE, SensorManager.SENSOR_DELAY_FASTEST);
    }

    public void testGyroscope_200hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE, RATE_200HZ);
    }

    public void testGyroscope_100hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE, RATE_100HZ);
    }

    public void testGyroscope_50hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE, RATE_50HZ);
    }

    public void testGyroscope_25hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE, RATE_25HZ);
    }

    public void testGyroscope_15hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE, RATE_15HZ);
    }

    public void testGyroscope_10hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE, RATE_10HZ);
    }

    public void testGyroscope_5hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE, RATE_5HZ);
    }

    public void testGyroscope_1hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE, RATE_1HZ);
    }

    public void testPressure_fastest() throws Throwable {
        runSensorTest(Sensor.TYPE_PRESSURE, SensorManager.SENSOR_DELAY_FASTEST);
    }

    public void testPressure_200hz() throws Throwable {
        runSensorTest(Sensor.TYPE_PRESSURE, RATE_200HZ);
    }

    public void testPressure_100hz() throws Throwable {
        runSensorTest(Sensor.TYPE_PRESSURE, RATE_100HZ);
    }

    public void testPressure_50hz() throws Throwable {
        runSensorTest(Sensor.TYPE_PRESSURE, RATE_50HZ);
    }

    public void testPressure_25hz() throws Throwable {
        runSensorTest(Sensor.TYPE_PRESSURE, RATE_25HZ);
    }

    public void testPressure_15hz() throws Throwable {
        runSensorTest(Sensor.TYPE_PRESSURE, RATE_15HZ);
    }

    public void testPressure_10hz() throws Throwable {
        runSensorTest(Sensor.TYPE_PRESSURE, RATE_10HZ);
    }

    public void testPressure_5hz() throws Throwable {
        runSensorTest(Sensor.TYPE_PRESSURE, RATE_5HZ);
    }

    public void testPressure_1hz() throws Throwable {
        runSensorTest(Sensor.TYPE_PRESSURE, RATE_1HZ);
    }

    public void testGravity_fastest() throws Throwable {
        runSensorTest(Sensor.TYPE_GRAVITY, SensorManager.SENSOR_DELAY_FASTEST);
    }

    public void testGravity_200hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GRAVITY, RATE_200HZ);
    }

    public void testGravity_100hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GRAVITY, RATE_100HZ);
    }

    public void testGravity_50hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GRAVITY, RATE_50HZ);
    }

    public void testGravity_25hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GRAVITY, RATE_25HZ);
    }

    public void testGravity_15hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GRAVITY, RATE_15HZ);
    }

    public void testGravity_10hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GRAVITY, RATE_10HZ);
    }

    public void testGravity_5hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GRAVITY, RATE_5HZ);
    }

    public void testGravity_1hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GRAVITY, RATE_1HZ);
    }

    public void testRotationVector_fastest() throws Throwable {
        runSensorTest(Sensor.TYPE_ROTATION_VECTOR, SensorManager.SENSOR_DELAY_FASTEST);
    }

    public void testRotationVector_200hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ROTATION_VECTOR, RATE_200HZ);
    }

    public void testRotationVector_100hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ROTATION_VECTOR, RATE_100HZ);
    }

    public void testRotationVector_50hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ROTATION_VECTOR, RATE_50HZ);
    }

    public void testRotationVector_25hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ROTATION_VECTOR, RATE_25HZ);
    }

    public void testRotationVector_15hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ROTATION_VECTOR, RATE_15HZ);
    }

    public void testRotationVector_10hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ROTATION_VECTOR, RATE_10HZ);
    }

    public void testRotationVector_5hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ROTATION_VECTOR, RATE_5HZ);
    }

    public void testRotationVector_1hz() throws Throwable {
        runSensorTest(Sensor.TYPE_ROTATION_VECTOR, RATE_1HZ);
    }

    public void testMagneticFieldUncalibrated_fastest() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD_UNCALIBRATED, SensorManager.SENSOR_DELAY_FASTEST);
    }

    public void testMagneticFieldUncalibrated_200hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD_UNCALIBRATED, RATE_200HZ);
    }

    public void testMagneticFieldUncalibrated_100hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD_UNCALIBRATED, RATE_100HZ);
    }

    public void testMagneticFieldUncalibrated_50hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD_UNCALIBRATED, RATE_50HZ);
    }

    public void testMagneticFieldUncalibrated_25hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD_UNCALIBRATED, RATE_25HZ);
    }

    public void testMagneticFieldUncalibrated_15hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD_UNCALIBRATED, RATE_15HZ);
    }

    public void testMagneticFieldUncalibrated_10hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD_UNCALIBRATED, RATE_10HZ);
    }

    public void testMagneticFieldUncalibrated_5hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD_UNCALIBRATED, RATE_5HZ);
    }

    public void testMagneticFieldUncalibrated_1hz() throws Throwable {
        runSensorTest(Sensor.TYPE_MAGNETIC_FIELD_UNCALIBRATED, RATE_1HZ);
    }

    public void testGameRotationVector_fastest() throws Throwable {
        runSensorTest(Sensor.TYPE_GAME_ROTATION_VECTOR, SensorManager.SENSOR_DELAY_FASTEST);
    }

    public void testGameRotationVector_200hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GAME_ROTATION_VECTOR, RATE_200HZ);
    }

    public void testGameRotationVector_100hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GAME_ROTATION_VECTOR, RATE_100HZ);
    }

    public void testGameRotationVector_50hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GAME_ROTATION_VECTOR, RATE_50HZ);
    }

    public void testGameRotationVector_25hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GAME_ROTATION_VECTOR, RATE_25HZ);
    }

    public void testGameRotationVector_15hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GAME_ROTATION_VECTOR, RATE_15HZ);
    }

    public void testGameRotationVector_10hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GAME_ROTATION_VECTOR, RATE_10HZ);
    }

    public void testGameRotationVector_5hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GAME_ROTATION_VECTOR, RATE_5HZ);
    }

    public void testGameRotationVector_1hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GAME_ROTATION_VECTOR, RATE_1HZ);
    }

    public void testGyroscopeUncalibrated_fastest() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE_UNCALIBRATED, SensorManager.SENSOR_DELAY_FASTEST);
    }

    public void testGyroscopeUncalibrated_200hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE_UNCALIBRATED, RATE_200HZ);
    }

    public void testGyroscopeUncalibrated_100hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE_UNCALIBRATED, RATE_100HZ);
    }

    public void testGyroscopeUncalibrated_50hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE_UNCALIBRATED, RATE_50HZ);
    }

    public void testGyroscopeUncalibrated_25hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE_UNCALIBRATED, RATE_25HZ);
    }

    public void testGyroscopeUncalibrated_15hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE_UNCALIBRATED, RATE_15HZ);
    }

    public void testGyroscopeUncalibrated_10hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE_UNCALIBRATED, RATE_10HZ);
    }

    public void testGyroscopeUncalibrated_5hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE_UNCALIBRATED, RATE_5HZ);
    }

    public void testGyroscopeUncalibrated_1hz() throws Throwable {
        runSensorTest(Sensor.TYPE_GYROSCOPE_UNCALIBRATED, RATE_1HZ);
    }

    public void  testGeomagneticRotationVector_fastest() throws Throwable {
        runSensorTest(Sensor.TYPE_GEOMAGNETIC_ROTATION_VECTOR, SensorManager.SENSOR_DELAY_FASTEST);
    }

    public void  testLinearAcceleration_200hz() throws Throwable {
        runSensorTest(Sensor.TYPE_LINEAR_ACCELERATION, RATE_200HZ);
    }

    public void  testLinearAcceleration_100hz() throws Throwable {
        runSensorTest(Sensor.TYPE_LINEAR_ACCELERATION, RATE_100HZ);
    }

    public void testLinearAcceleration_50hz() throws Throwable {
        runSensorTest(Sensor.TYPE_LINEAR_ACCELERATION, RATE_50HZ);
    }

    public void testLinearAcceleration_25hz() throws Throwable {
        runSensorTest(Sensor.TYPE_LINEAR_ACCELERATION, RATE_25HZ);
    }

    public void testLinearAcceleration_15hz() throws Throwable {
        runSensorTest(Sensor.TYPE_LINEAR_ACCELERATION, RATE_15HZ);
    }

    public void testLinearAcceleration_10hz() throws Throwable {
        runSensorTest(Sensor.TYPE_LINEAR_ACCELERATION, RATE_10HZ);
    }

    public void testLinearAcceleration_5hz() throws Throwable {
        runSensorTest(Sensor.TYPE_LINEAR_ACCELERATION, RATE_5HZ);
    }

    public void testLinearAcceleration_1hz() throws Throwable {
        runSensorTest(Sensor.TYPE_LINEAR_ACCELERATION, RATE_1HZ);
    }

    private void runSensorTest(int sensorType, int rateUs) throws Throwable {
        SensorCtsHelper.sleep(3, TimeUnit.SECONDS);
        TestSensorEnvironment environment = new TestSensorEnvironment(
                getContext(),
                sensorType,
                shouldEmulateSensorUnderLoad(),
                rateUs);
        TestSensorOperation op =
                TestSensorOperation.createOperation(environment, 5, TimeUnit.SECONDS);
        op.addDefaultVerifications();

        try {
            op.execute(getCurrentTestNode());
        } finally {
            SensorStats stats = op.getStats();
            stats.log(TAG);

            String fileName = String.format(
                    "single_%s_%s.txt",
                    SensorStats.getSanitizedSensorName(environment.getSensor()),
                    environment.getFrequencyString());
            stats.logToFile(fileName);
        }
    }
}