SumBlockTest.hpp

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#ifndef ORG_EEROS_TEST_CONTROL_SUMBLOCKTEST_HPP_
#define ORG_EEROS_TEST_CONTROL_SUMBLOCKTEST_HPP_
#include <eeros/core/Runnable.hpp>
#include <eeros/control/Sum.hpp>

#include <iostream>
#include <fstream>

#include "../../Utils.hpp"

template <unsigned int I, typename T>
class SumBlockTestScalar {
    public:
        SumBlockTestScalar() {
            for (int i = 0; i < I; i++) {
                uut.getIn(i).connect(data[i]);
            }
        }
        
        int run(const char* filepath) {
            std::ifstream file(filepath);
            if (!file.is_open()) return -2;
            
            int line = 0;
            int error = 0;
            
            while (!file.eof()) {
                line++;
                for (int i = 0; i < I; i++) {
                    double in;
                    file >> in; // read input data
                    data[i].getSignal().setValue(in);
                }
                if (file.eof()) break;
                double out;
                file >> out; // read reference result
                uut.run();

                if(!Utils::compareApprox(out, uut.getOut().getSignal().getValue(), 0.001)) {
                    error++;
                    std::cout << "line " << line << " expecting " << out << " calculated " << uut.getOut().getSignal().getValue() << std::endl;
                }
            }
            
            file.close();
            return error;
        }
        
    protected:
        eeros::control::Output<T> data[I];
        eeros::control::Sum<I, T> uut;
};

template <unsigned int I, unsigned int M, unsigned int N, typename T>
class SumBlockTestMatrix {
    public:
        SumBlockTestMatrix() {
            for (int i = 0; i < I; i++) {
                uut.getIn(i).connect(data[i]);
            }
        }
        
        int run(const char* filepath) {
            std::ifstream file(filepath);
            if (!file.is_open()) return -2;
            
            int line = 0;
            int error = 0;
            
            while (!file.eof()) {
                line++;
                
                T testValue;
                for (int i = 0; i < I; i++) {
                    for(unsigned int j = 0; j < M * N; j++) {
                        double in;
                        file >> in; // read input data
                        testValue(j) = in;
                    }
                    data[i].getSignal().setValue(testValue);
                }
                if (file.eof()) break;
                T refRes;
                for(unsigned int j = 0; j < M * N; j++) {
                    double out;
                    file >> out; // read reference data
                    refRes(j) = out;
                }
                
                uut.run();
                
                for(unsigned int j = 0; j < M * N; j++) {
                    if(!Utils::compareApprox(refRes(j), uut.getOut().getSignal().getValue()(j), 0.001)) {
                        error++;
                        std::cout << "line " << line << " expecting " << refRes(j) << " calculated " << uut.getOut().getSignal().getValue()(j) << std::endl;
                    }
                }
            }
            
            file.close();
            return error;
        }
        
    protected:
        eeros::control::Output<T> data[I];
        eeros::control::Sum<I, T> uut;
};

#endif // ORG_EEROS_TEST_CONTROL_SUMBLOCKTEST_HPP_