added scapix class, update build.gradle version

MobileRoboticsSkoltech · Aug 4, 2021 · cf61bdb · cf61bdb
1 parent 1adbad8
commit cf61bdb
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Showing 26 changed files with 10,209 additions and 9 deletions.
diff --git a/.gitignore b/.gitignore
@@ -95,3 +95,9 @@ lint/tmp/
 sync-server/__pycache__/
 
 sync-server/*.csv
+
+# Scapix unnecessary files
+app/src/main/cpp/generated/bridge/cs
+app/src/main/cpp/generated/bridge/js
+app/src/main/cpp/generated/bridge/objc
+app/src/main/cpp/generated/bridge/python
diff --git a/.gitmodules b/.gitmodules
@@ -0,0 +1,6 @@
+[submodule "app/src/main/cpp/lib/spline"]
+	path = app/src/main/cpp/lib/spline
+	url = https://github.com/ttk592/spline
+[submodule "app/src/main/cpp/lib/eigen"]
+	path = app/src/main/cpp/lib/eigen
+	url = https://gitlab.com/libeigen/eigen
diff --git a/app/build.gradle b/app/build.gradle
@@ -1,16 +1,22 @@
 apply plugin: 'com.android.application'
 
 android {
-    compileSdkVersion 29
-    buildToolsVersion "29.0.2"
+    compileSdkVersion 30
+    buildToolsVersion '30.0.3'
     ndkVersion "22.1.7171670"
     defaultConfig {
         applicationId "skoltech.mobilerobotics.capturesync"
         minSdkVersion 23
-        targetSdkVersion 29
+        targetSdkVersion 30
         versionCode 1
         versionName "1.0"
         testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+        externalNativeBuild {
+            cmake {
+                cppFlags '-O2'
+                arguments "-DANDROID_ARM_NEON=FALSE"
+            }
+        }
     }
     buildTypes {
         release {
@@ -22,9 +28,28 @@ android {
         sourceCompatibility = 1.8
         targetCompatibility = 1.8
     }
+    externalNativeBuild {
+        cmake {
+            path file('src/main/cpp/CMakeLists.txt')
+            version '3.18.1'
+        }
+    }
+    buildFeatures {
+        viewBinding true
+    }
     lintOptions {
         disable 'LongLogTag'
     }
+    sourceSets {
+        main {
+            java {
+                srcDirs = [
+                        "src/main/cpp/generated/bridge/java",
+                        "src/main/java"
+                ]
+            }
+        }
+    }
 }
 
 tasks.withType(Test) {
@@ -37,8 +62,8 @@ tasks.withType(Test) {
 
 dependencies {
     implementation fileTree(dir: 'libs', include: ['*.jar'])
-    implementation 'androidx.appcompat:appcompat:1.0.2'
-    testImplementation 'junit:junit:4.12'
-    androidTestImplementation 'androidx.test.ext:junit:1.1.0'
-    androidTestImplementation 'androidx.test.espresso:espresso-core:3.1.1'
+    implementation 'androidx.appcompat:appcompat:1.3.1'
+    testImplementation 'junit:junit:4.13.2'
+    androidTestImplementation 'androidx.test.ext:junit:1.1.3'
+    androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
 }
diff --git a/app/src/androidTest/java/com/googleresearch/capturesync/ReceiveDelayTests.java b/app/src/androidTest/java/com/googleresearch/capturesync/ReceiveDelayTests.java
@@ -0,0 +1,53 @@
+package com.googleresearch.capturesync;
+
+import android.content.Context;
+import android.util.Pair;
+
+import androidx.test.core.app.ApplicationProvider;
+import androidx.test.platform.app.InstrumentationRegistry;
+
+import com.googleresearch.capturesync.softwaresync.TimeSync;
+
+import org.junit.Assert;
+import org.junit.Before;
+import org.junit.Test;
+
+public class ReceiveDelayTests {
+    Context unitTestContext;
+
+    @Before
+    public void initContext() {
+        unitTestContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
+        unitTestContext = ApplicationProvider.getApplicationContext();
+    }
+
+    @Test
+    public void receiveValueFirstTest_isCorrect() {
+        String firstNameFile = "ForUnitTestFile4.csv";
+        Pair<double[][], double[]> firstPair = ReadFromFile.ReadFromCSV(firstNameFile, unitTestContext);
+        String secondNameFile = "ForUnitTestFile5.csv";
+        Pair<double[][], double[]> secondPair = ReadFromFile.ReadFromCSV(secondNameFile, unitTestContext);
+
+        TimeSync currentObject = new TimeSync(firstPair.first, secondPair.first, firstPair.second, secondPair.second, false);
+        currentObject.resample(1.0);
+        currentObject.obtainDelay();
+        double timeDelay = currentObject.getTimeDelay();
+
+        Assert.assertEquals(0.005384159941042243, timeDelay, 0.000001);
+    }
+
+    @Test
+    public void receiveValueSecondTest_isCorrect() {
+        String firstNameFile = "ForUnitTestFile6.csv";
+        Pair<double[][], double[]> firstPair = ReadFromFile.ReadFromCSV(firstNameFile, unitTestContext);
+        String secondNameFile = "ForUnitTestFile7.csv";
+        Pair<double[][], double[]> secondPair = ReadFromFile.ReadFromCSV(secondNameFile, unitTestContext);
+
+        TimeSync currentObject = new TimeSync(firstPair.first, secondPair.first, firstPair.second, secondPair.second, false);
+        currentObject.resample(1.0);
+        currentObject.obtainDelay();
+        double timeDelay = currentObject.getTimeDelay();
+
+        Assert.assertEquals(0.0493466958931981, timeDelay, 0.000001);
+    }
+}