LOC - Preprocess Optical

lib/localisation/Cargo.toml

@@ -6,3 +6,4 @@ edition = "2021"
 [dependencies]
 nalgebra = { version = "0.33.0", default-features = false }
 heapless = "0.8.0"
+libm = "0.2.11"

lib/localisation/src/preprocessing.rs

@@ -1 +1,2 @@
 pub mod keyence;
+pub mod optical;

lib/localisation/src/preprocessing/optical.rs

@@ -1 +1,60 @@
+use heapless::Vec;
+use libm::sqrtf;
 
+/// Processes the raw optical data to get the magnitude and added to the optical data for each sensor
+pub fn process_data(raw_optical_data: Vec<Vec<f64, 2>, 2>) -> Vec<f32, 2> {
+    let mut optical_data: Vec<f32, 2> = Vec::from_slice(&[0.0, 0.0]).unwrap();
+
+    for i in 0..2 {
+        let mut magnitude: f32 = 0.0;
+
+        for data in raw_optical_data[i].clone() {
+            let data: f32 = data as f32;
+            magnitude += data * data;
+        }
+        optical_data[i] = sqrtf(magnitude);
+    }
+
+    optical_data
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_correct_positive() {
+        let raw_optical_data: Vec<Vec<f64, 2>, 2> = Vec::from_slice(&[
+            Vec::from_slice(&[1.0, 1.0]).unwrap(),
+            Vec::from_slice(&[3.0, 4.0]).unwrap(),
+        ])
+        .unwrap();
+        let desired_outcome: Vec<f32, 2> = Vec::from_slice(&[sqrtf(2.0), 5.0]).unwrap();
+        let result = process_data(raw_optical_data);
+        assert_eq!(result, desired_outcome);
+    }
+
+    #[test]
+    fn test_correct_negative() {
+        let raw_optical_data: Vec<Vec<f64, 2>, 2> = Vec::from_slice(&[
+            Vec::from_slice(&[-4.0, -6.0]).unwrap(),
+            Vec::from_slice(&[-3.0, -1.0]).unwrap(),
+        ])
+        .unwrap();
+        let desired_outcome: Vec<f32, 2> = Vec::from_slice(&[7.2111025, 3.1622777]).unwrap();
+        let result = process_data(raw_optical_data);
+        assert_eq!(result, desired_outcome);
+    }
+
+    #[test]
+    fn test_correct_zero() {
+        let raw_optical_data: Vec<Vec<f64, 2>, 2> = Vec::from_slice(&[
+            Vec::from_slice(&[0.0, 0.0]).unwrap(),
+            Vec::from_slice(&[0.0, 0.0]).unwrap(),
+        ])
+        .unwrap();
+        let desired_outcome: Vec<f32, 2> = Vec::from_slice(&[0.0, 0.0]).unwrap();
+        let result = process_data(raw_optical_data);
+        assert_eq!(result, desired_outcome);
+    }
+}