New cross validation alignment algo
The sensor datapoints are now aligned by finding all of the timestamps
that matchup and discarding the rest instead of just finding the first
pair that match and assuming the rest line up.
Tests would fail before this because CHRE would often give sensor data
at an increased rate as compared to the AP because CHRE would not
resample the data.
Fixes: 174659971
Bug: 175795665
Test: All cross validation tests pass
Merged-In: Iee37a349020f12b6651543011cb74cd9ebcfd01c
Change-Id: Iee37a349020f12b6651543011cb74cd9ebcfd01c
diff --git a/java/test/cross_validation/src/com/google/android/chre/test/crossvalidator/ChreCrossValidatorSensor.java b/java/test/cross_validation/src/com/google/android/chre/test/crossvalidator/ChreCrossValidatorSensor.java
index 1add617..4f8db72 100644
--- a/java/test/cross_validation/src/com/google/android/chre/test/crossvalidator/ChreCrossValidatorSensor.java
+++ b/java/test/cross_validation/src/com/google/android/chre/test/crossvalidator/ChreCrossValidatorSensor.java
@@ -37,7 +37,7 @@
import org.junit.Assert;
import org.junit.Assume;
-import java.util.Arrays;
+import java.util.ArrayList;
import java.util.HashMap;
import java.util.Map;
import java.util.concurrent.ConcurrentLinkedQueue;
@@ -70,8 +70,6 @@
private static final long DEFAULT_SAMPLING_INTERVAL_IN_MS = 20;
- // TODO(b/146052784): May need to account for differences in sampling rate and latency from
- // AP side vs CHRE side
private static final long SAMPLING_LATENCY_IN_MS = 0;
private static final long MAX_TIMESTAMP_DIFF_NS = 10000000L;
@@ -256,8 +254,6 @@
Assert.assertTrue("Did not find any AP datapoints", mApDatapointsArray.length > 0);
alignApAndChreDatapoints();
// AP and CHRE datapoints will be same size
- // TODO(b/146052784): Ensure that CHRE data is the same sampling rate as AP data for
- // comparison
for (int i = 0; i < mApDatapointsArray.length; i++) {
assertSensorDatapointsSimilar(
(ApSensorDatapoint) mApDatapointsArray[i],
@@ -400,35 +396,35 @@
}
/*
- * Align the AP and CHRE datapoints by finding the first pair that are similar comparing
- * linearly from there. Also truncate the end if one list has more datapoints than the other
- * after this. This is needed because AP and CHRE can start sending data and varying times to
- * this validator and can also stop sending at various times.
+ * Align the AP and CHRE datapoints by finding all the timestamps that match up and discarding
+ * the rest of the datapoints.
*/
private void alignApAndChreDatapoints() throws AssertionError {
- int matchAp = 0, matchChre = 0;
- int shorterDpLength = Math.min(mApDatapointsArray.length, mChreDatapointsArray.length);
- if (mApDatapointsArray[0].timestamp < mChreDatapointsArray[0].timestamp) {
- matchChre = 0;
- matchAp = indexOfFirstClosestDatapoint((SensorDatapoint[]) mApDatapointsArray,
- mChreDatapointsArray[0]);
- } else {
- matchAp = 0;
- matchChre = indexOfFirstClosestDatapoint((SensorDatapoint[]) mChreDatapointsArray,
- mApDatapointsArray[0]);
+ ArrayList<ApSensorDatapoint> newApSensorDatapoints = new ArrayList<ApSensorDatapoint>();
+ ArrayList<ChreSensorDatapoint> newChreSensorDatapoints =
+ new ArrayList<ChreSensorDatapoint>();
+ int apI = 0;
+ int chreI = 0;
+ while (apI < mApDatapointsArray.length && chreI < mChreDatapointsArray.length) {
+ ApSensorDatapoint apDp = mApDatapointsArray[apI];
+ ChreSensorDatapoint chreDp = mChreDatapointsArray[chreI];
+ if (datapointTimestampsAreSimilar(apDp, chreDp)) {
+ newApSensorDatapoints.add(apDp);
+ newChreSensorDatapoints.add(chreDp);
+ apI++;
+ chreI++;
+ } else if (apDp.timestamp < chreDp.timestamp) {
+ apI++;
+ } else {
+ chreI++;
+ }
}
+ // TODO(b/175795665): Assert that an acceptable amount of datapoints pass the alignment
+ // phase.
Assert.assertTrue("Did not find matching timestamps to align AP and CHRE datapoints.",
- (matchAp != -1 && matchChre != -1));
- // Remove extraneous datapoints before matching datapoints
- int apStartI = matchAp;
- int chreStartI = matchChre;
- int newApLength = mApDatapointsArray.length - apStartI;
- int newChreLength = mChreDatapointsArray.length - chreStartI;
- int minLength = Math.min(newApLength, newChreLength);
- int chreEndI = chreStartI + minLength;
- int apEndI = apStartI + minLength;
- mApDatapointsArray = Arrays.copyOfRange(mApDatapointsArray, apStartI, apEndI);
- mChreDatapointsArray = Arrays.copyOfRange(mChreDatapointsArray, chreStartI, chreEndI);
+ !(newApSensorDatapoints.isEmpty() || newChreSensorDatapoints.isEmpty()));
+ mApDatapointsArray = newApSensorDatapoints.toArray(new ApSensorDatapoint[0]);
+ mChreDatapointsArray = newChreSensorDatapoints.toArray(new ChreSensorDatapoint[0]);
}
/**
@@ -461,10 +457,6 @@
String.format("AP and CHRE three axis datapoint values differ on index %d", index)
+ "\nAP data -> " + apDp + "\nCHRE data -> "
+ chreDp;
- String timestampsAssertMsg =
- String.format("AP and CHRE three axis timestamp values differ on index %d", index)
- + "\nAP data -> " + apDp + "\nCHRE data -> "
- + chreDp;
// TODO(b/146052784): Log full list of datapoints to file on disk on assertion failure
// so that there is more insight into the problem then just logging the one pair of
@@ -472,23 +464,6 @@
Assert.assertTrue(datapointsAssertMsg,
datapointValuesAreSimilar(
apDp, chreDp, mSensorConfig.errorMargin));
- Assert.assertTrue(timestampsAssertMsg,
- datapointTimestampsAreSimilar(apDp, chreDp));
- }
-
- /**
- * @param datapoints Array of dataoints to compare timestamps to laterDp
- * @param laterDp SensorDatapoint whose timestamp will be compared to the datapoints in array
- * to find the first pair that match.
- */
- private int indexOfFirstClosestDatapoint(SensorDatapoint[] sensorDatapoints,
- SensorDatapoint laterDp) {
- for (int i = 0; i < sensorDatapoints.length; i++) {
- if (datapointTimestampsAreSimilar(sensorDatapoints[i], laterDp)) {
- return i;
- }
- }
- return -1;
}
/**
