static void testInit() {
Camera * cameraPtr;
Camera cameraStruct;
cameraPtr = Camera_create();
TestCase_assert(cameraPtr->orientation.x == 0.0f, "Expected 0 but got %f", cameraPtr->orientation.x);
TestCase_assert(cameraPtr->orientation.y == 0.0f, "Expected 0 but got %f", cameraPtr->orientation.y);
TestCase_assert(cameraPtr->orientation.z == 0.0f, "Expected 0 but got %f", cameraPtr->orientation.z);
TestCase_assert(cameraPtr->orientation.w == 1.0f, "Expected 1 but got %f", cameraPtr->orientation.w);
TestCase_assert(cameraPtr->position.x == 0.0f, "Expected 0 but got %f", cameraPtr->position.x);
TestCase_assert(cameraPtr->position.y == 0.0f, "Expected 0 but got %f", cameraPtr->position.y);
TestCase_assert(cameraPtr->position.z == 0.0f, "Expected 0 but got %f", cameraPtr->position.z);
TestCase_assert(cameraPtr->dispose != NULL, "Method unexpectedly NULL");
TestCase_assert(cameraPtr->getMatrix != NULL, "Method unexpectedly NULL");
cameraPtr->dispose(cameraPtr);
Camera_init(&cameraStruct);
TestCase_assert(cameraStruct.orientation.x == 0.0f, "Expected 0 but got %f", cameraStruct.orientation.x);
TestCase_assert(cameraStruct.orientation.y == 0.0f, "Expected 0 but got %f", cameraStruct.orientation.y);
TestCase_assert(cameraStruct.orientation.z == 0.0f, "Expected 0 but got %f", cameraStruct.orientation.z);
TestCase_assert(cameraStruct.orientation.w == 1.0f, "Expected 1 but got %f", cameraStruct.orientation.w);
TestCase_assert(cameraStruct.position.x == 0.0f, "Expected 0 but got %f", cameraStruct.position.x);
TestCase_assert(cameraStruct.position.y == 0.0f, "Expected 0 but got %f", cameraStruct.position.y);
TestCase_assert(cameraStruct.position.z == 0.0f, "Expected 0 but got %f", cameraStruct.position.z);
TestCase_assert(cameraStruct.dispose != NULL, "Method unexpectedly NULL");
TestCase_assert(cameraStruct.getMatrix != NULL, "Method unexpectedly NULL");
cameraStruct.dispose(&cameraStruct);
}
// Initialize Hardware
void Initialize(void)
{
RESET_Write(0);
CyDelay(100);
RESET_Write(1);
CyDelay(100);
PAN_Start();
TILT_Start();
PAN_WriteCompare(new_pan);
TILT_WriteCompare(new_tilt);
I2CM_Start();
Camera_init();
CyDelay(1000);
}
void testGetMatrix() {
Camera camera;
Matrix matrix;
Camera_init(&camera);
matrix = camera.getMatrix(&camera);
assertMatrixApproximate(matrix, 1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f, 0.00001f);
camera.orientation = Quaternion_fromAxisAngle(Vector3_init(0.0f, 1.0f, 0.0f), M_PI);
camera.position = Vector3_init(1.0f, -1.0f, 2.0f);
matrix = camera.getMatrix(&camera);
assertMatrixApproximate(matrix, -1.0f, 0.0f, 0.0f, 1.0f,
0.0f, 1.0f, 0.0f, 1.0f,
0.0f, 0.0f, -1.0f, 2.0f,
0.0f, 0.0f, 0.0f, 1.0f, 0.00001f);
}
Camera *Camera_new()
{
return Camera_init(malloc(sizeof(Camera)));
}
