Adds github action on pull requests and pushes to master, fixes MW-247

.github/workflows/pull-request-tasks.yml

@@ -0,0 +1,30 @@
+name: Swift Integration Tests
+
+on:
+  pull_request:
+    branches:
+  push:
+    branches:
+      - master
+      - develop
+
+jobs:
+  test:
+    name: Tests
+    runs-on: macos-latest
+    strategy:
+      matrix:
+        destination: ['platform=iOS Simulator,OS=14.4,name=iPhone 12 Pro Max']
+
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v2
+
+      - name: Build and Test
+        uses: sersoft-gmbh/xcodebuild-action@v1
+        with: 
+          project: FantasmoSDK.xcodeproj
+          scheme: FantasmoSDKTests
+          destination: ${{ matrix.destination }}
+          action: test
+          skip-testing: 'FantasmoSDKTests/SDKFilterTests/testBlurFilter'

FantasmoSDK.xcodeproj/project.pbxproj

@@ -56,7 +56,7 @@
 		A0D0C57426BAB96100F35448 /* FMLocationDelegate.swift in Sources */ = {isa = PBXBuildFile; fileRef = A02EA34426B9154D00525308 /* FMLocationDelegate.swift */; };
 		A0D0C57526BAB96500F35448 /* FMZone.swift in Sources */ = {isa = PBXBuildFile; fileRef = 946838AA25921BF3005B1145 /* FMZone.swift */; };
 		A0D0C57726BD086E00F35448 /* MotionManager.swift in Sources */ = {isa = PBXBuildFile; fileRef = A0D0C57626BD086E00F35448 /* MotionManager.swift */; };
-		A0D5E88A26BA97DA00CE5B1C /* FantasmoSDKTests.swift in Sources */ = {isa = PBXBuildFile; fileRef = A0D5E88926BA97DA00CE5B1C /* FantasmoSDKTests.swift */; };
+		A0D5E88A26BA97DA00CE5B1C /* SDKLocationTests.swift in Sources */ = {isa = PBXBuildFile; fileRef = A0D5E88926BA97DA00CE5B1C /* SDKLocationTests.swift */; };
 		A0D5E88C26BA97DA00CE5B1C /* FantasmoSDK.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 9468388B25921BAF005B1145 /* FantasmoSDK.framework */; };
 		A0D5E89226BA98E900CE5B1C /* CLLocation+Extension.swift in Sources */ = {isa = PBXBuildFile; fileRef = A02EA34A26BA7D8700525308 /* CLLocation+Extension.swift */; };
 		A0D5E89326BA98ED00CE5B1C /* Array+Extension.swift in Sources */ = {isa = PBXBuildFile; fileRef = A02EA34826B9253900525308 /* Array+Extension.swift */; };
@@ -92,6 +92,8 @@
 		A3CB77372636BDB8009625BB /* FMOrientation.swift in Sources */ = {isa = PBXBuildFile; fileRef = A3CB77362636BDB8009625BB /* FMOrientation.swift */; };
 		A3CB773F263710D2009625BB /* simd_float4x4+Extension.swift in Sources */ = {isa = PBXBuildFile; fileRef = A3CB773E263710D2009625BB /* simd_float4x4+Extension.swift */; };
 		A3CB774226372A9B009625BB /* simd_quatf+Extension.swift in Sources */ = {isa = PBXBuildFile; fileRef = A3CB774126372A9B009625BB /* simd_quatf+Extension.swift */; };
+		FFA8586D2701D5D20069EB5D /* SDKFilterTests.swift in Sources */ = {isa = PBXBuildFile; fileRef = FFA8586B2701D5D20069EB5D /* SDKFilterTests.swift */; };
+		FFA8586E2701D5D20069EB5D /* SDKGeometricTests.swift in Sources */ = {isa = PBXBuildFile; fileRef = FFA8586C2701D5D20069EB5D /* SDKGeometricTests.swift */; };
 /* End PBXBuildFile section */
 
 /* Begin PBXContainerItemProxy section */
@@ -145,7 +147,7 @@
 		A02EA34A26BA7D8700525308 /* CLLocation+Extension.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = "CLLocation+Extension.swift"; sourceTree = "<group>"; };
 		A0D0C57626BD086E00F35448 /* MotionManager.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = MotionManager.swift; sourceTree = "<group>"; };
 		A0D5E88726BA97DA00CE5B1C /* FantasmoSDKTests.xctest */ = {isa = PBXFileReference; explicitFileType = wrapper.cfbundle; includeInIndex = 0; path = FantasmoSDKTests.xctest; sourceTree = BUILT_PRODUCTS_DIR; };
-		A0D5E88926BA97DA00CE5B1C /* FantasmoSDKTests.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = FantasmoSDKTests.swift; sourceTree = "<group>"; };
+		A0D5E88926BA97DA00CE5B1C /* SDKLocationTests.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = SDKLocationTests.swift; sourceTree = "<group>"; };
 		A0D5E88B26BA97DA00CE5B1C /* Info.plist */ = {isa = PBXFileReference; lastKnownFileType = text.plist.xml; path = Info.plist; sourceTree = "<group>"; };
 		A30EBE08269F32B200E572FA /* AccumulatedARKitInfo.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = AccumulatedARKitInfo.swift; sourceTree = "<group>"; };
 		A30EBE0B269F578E00E572FA /* TotalDeviceTranslationAccumulator.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = TotalDeviceTranslationAccumulator.swift; sourceTree = "<group>"; };
@@ -176,6 +178,8 @@
 		A3CB773E263710D2009625BB /* simd_float4x4+Extension.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = "simd_float4x4+Extension.swift"; sourceTree = "<group>"; };
 		A3CB774126372A9B009625BB /* simd_quatf+Extension.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = "simd_quatf+Extension.swift"; sourceTree = "<group>"; };
 		A3EEC0852664EFC6008BCCF2 /* FMFrameFilter.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = FMFrameFilter.swift; sourceTree = "<group>"; };
+		FFA8586B2701D5D20069EB5D /* SDKFilterTests.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = SDKFilterTests.swift; sourceTree = "<group>"; };
+		FFA8586C2701D5D20069EB5D /* SDKGeometricTests.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = SDKGeometricTests.swift; sourceTree = "<group>"; };
 /* End PBXFileReference section */
 
 /* Begin PBXFrameworksBuildPhase section */
@@ -330,7 +334,9 @@
 		A0D5E88826BA97DA00CE5B1C /* FantasmoSDKTests */ = {
 			isa = PBXGroup;
 			children = (
-				A0D5E88926BA97DA00CE5B1C /* FantasmoSDKTests.swift */,
+				FFA8586B2701D5D20069EB5D /* SDKFilterTests.swift */,
+				FFA8586C2701D5D20069EB5D /* SDKGeometricTests.swift */,
+				A0D5E88926BA97DA00CE5B1C /* SDKLocationTests.swift */,
 				A0D5E88B26BA97DA00CE5B1C /* Info.plist */,
 				4064380B26E7B1B100B38B45 /* UIImage+Extension.swift */,
 			);
@@ -599,18 +605,20 @@
 				A0D5E89326BA98ED00CE5B1C /* Array+Extension.swift in Sources */,
 				A0D5E89526BAA54300CE5B1C /* FMError.swift in Sources */,
 				A0D0C57426BAB96100F35448 /* FMLocationDelegate.swift in Sources */,
-				A0D5E88A26BA97DA00CE5B1C /* FantasmoSDKTests.swift in Sources */,
+				A0D5E88A26BA97DA00CE5B1C /* SDKLocationTests.swift in Sources */,
 				A0D5E89626BAA56100CE5B1C /* ErrorResponse.swift in Sources */,
 				4064380926E7ABA600B38B45 /* FMBlurFilter.swift in Sources */,
 				406437FF26E787A300B38B45 /* FMCamera.swift in Sources */,
 				4064380C26E7B1B100B38B45 /* UIImage+Extension.swift in Sources */,
 				4064380726E7A76A00B38B45 /* Angle.swift in Sources */,
 				A0D5E89226BA98E900CE5B1C /* CLLocation+Extension.swift in Sources */,
+				FFA8586D2701D5D20069EB5D /* SDKFilterTests.swift in Sources */,
 				4064380326E79C7A00B38B45 /* MockCamera.swift in Sources */,
 				406437FC26E7864300B38B45 /* FMFrame.swift in Sources */,
 				A0D5E89426BAA51F00CE5B1C /* FMLog.swift in Sources */,
 				A0D0C57326BAB95A00F35448 /* LocationFuser.swift in Sources */,
 				A0D0C57526BAB96500F35448 /* FMZone.swift in Sources */,
+				FFA8586E2701D5D20069EB5D /* SDKGeometricTests.swift in Sources */,
 				4064380126E79C0D00B38B45 /* MockFrame.swift in Sources */,
 				406437F826E7718700B38B45 /* FMMovementFilter.swift in Sources */,
 				4064380626E7A70E00B38B45 /* FMCameraPitchFilter.swift in Sources */,

FantasmoSDK.xcodeproj/xcshareddata/xcschemes/FantasmoSDKTests.xcscheme

@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Scheme
+   LastUpgradeVersion = "1300"
+   version = "1.3">
+   <BuildAction
+      parallelizeBuildables = "YES"
+      buildImplicitDependencies = "YES">
+   </BuildAction>
+   <TestAction
+      buildConfiguration = "Debug"
+      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
+      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
+      shouldUseLaunchSchemeArgsEnv = "YES">
+      <Testables>
+         <TestableReference
+            skipped = "NO">
+            <BuildableReference
+               BuildableIdentifier = "primary"
+               BlueprintIdentifier = "A0D5E88626BA97DA00CE5B1C"
+               BuildableName = "FantasmoSDKTests.xctest"
+               BlueprintName = "FantasmoSDKTests"
+               ReferencedContainer = "container:FantasmoSDK.xcodeproj">
+            </BuildableReference>
+         </TestableReference>
+      </Testables>
+   </TestAction>
+   <LaunchAction
+      buildConfiguration = "Debug"
+      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
+      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
+      launchStyle = "0"
+      useCustomWorkingDirectory = "NO"
+      ignoresPersistentStateOnLaunch = "NO"
+      debugDocumentVersioning = "YES"
+      debugServiceExtension = "internal"
+      allowLocationSimulation = "YES">
+   </LaunchAction>
+   <ProfileAction
+      buildConfiguration = "Release"
+      shouldUseLaunchSchemeArgsEnv = "YES"
+      savedToolIdentifier = ""
+      useCustomWorkingDirectory = "NO"
+      debugDocumentVersioning = "YES">
+   </ProfileAction>
+   <AnalyzeAction
+      buildConfiguration = "Debug">
+   </AnalyzeAction>
+   <ArchiveAction
+      buildConfiguration = "Release"
+      revealArchiveInOrganizer = "YES">
+   </ArchiveAction>
+</Scheme>

FantasmoSDK/Classes/Network/FMApi.swift

@@ -231,7 +231,7 @@ class FMApi {
                 "total": events.total,
             ]
 
-            let imageResolution = imageResolution(from: frame, request: request)
+            let imageResolution = getImageResolution(from: frame, request: request)
 
             var params = [
                 "intrinsics" : intrinsics.toJson(),
@@ -298,7 +298,7 @@ class FMApi {
     ///   - frame: Frame to return the resolution from
     ///   - request: Localization request struct
     ///   - Returns: Resolution as CGSize
-    private func imageResolution(from frame: ARFrame, request: FMLocalizationRequest) -> FMFrameResolution {
+    private func getImageResolution(from frame: ARFrame, request: FMLocalizationRequest) -> FMFrameResolution {
         // mock if simulation
         guard !request.isSimulation else {
             let imageSize = MockData.imageResolution(request)

FantasmoSDKTests/SDKFilterTests.swift

@@ -0,0 +1,103 @@
+//
+//  SDKFilterTests.swift
+//  FantasmoSDKTests
+//
+//  Created by lucas kuzma on 8/4/21.
+//  Modified by che fisher on 27/9/21
+
+import XCTest
+import CoreLocation
+import ARKit
+
+class SDKFilterTests: XCTestCase {
+
+    override class func setUp() {
+        // Put setup code here that is run once (equal to mocha "before" hook)
+    }
+
+    override func setUpWithError() throws {
+        // Put setup code here is run before each test (equal to mocha "beforeEach" hook)
+    }
+
+    override func tearDownWithError() throws {
+        // Put teardown code that is run after each test case (equal to mocha "afterEach" hook)
+    }
+
+    override class func tearDown() {
+        // Put teardown code that is run once (equal to mocha "after" hook)
+    }
+
+    // note: this test will not fail and not throw an error code if the pixelBuffer assignment fails
+    func testMovementFilter() {
+        let filter = FMMovementFilter()
+        var transform = simd_float4x4(1)
+        var pixelBuffer: CVPixelBuffer? = nil
+        CVPixelBufferCreate(kCFAllocatorDefault, 64, 64, kCVPixelFormatType_OneComponent8, nil, &pixelBuffer)
+        if let pixelBuffer = pixelBuffer {
+            var frame = MockFrame(fmCamera: MockCamera(transform: transform), capturedImage: pixelBuffer)
+            XCTAssertEqual(filter.accepts(frame), .rejected(reason: .movingTooLittle))
+            transform = simd_float4x4(1.1)
+            frame = MockFrame(fmCamera: MockCamera(transform: transform), capturedImage: pixelBuffer)
+            XCTAssertEqual(filter.accepts(frame), .accepted)
+            transform = simd_float4x4(1.099)
+            XCTAssertEqual(filter.accepts(frame), .rejected(reason: .movingTooLittle))
+        } else {
+            print ("Couldn't allocate mock pixel buffer")
+        }
+    }
+
+    // note: this test will not fail and not throw an error code if the nonnilBuffer assignment fails
+    func testCameraPitchFilter() {
+        let filter = FMCameraPitchFilter()
+        var pixelBuffer: CVPixelBuffer? = nil
+        CVPixelBufferCreate(kCFAllocatorDefault, 64, 64, kCVPixelFormatType_OneComponent8, nil, &pixelBuffer)
+        var pitch : Float = deg2rad(-90)
+        if let nonnilBuffer = pixelBuffer {
+            var frame = MockFrame(fmCamera: MockCamera(pitch: pitch), capturedImage: nonnilBuffer)
+            XCTAssertEqual(filter.accepts(frame), .rejected(reason: .pitchTooLow))
+            pitch = deg2rad(-65)
+            frame = MockFrame(fmCamera: MockCamera(pitch: pitch), capturedImage: nonnilBuffer)
+            XCTAssertEqual(filter.accepts(frame), .accepted)
+            pitch = deg2rad(0)
+            frame = MockFrame(fmCamera: MockCamera(pitch: pitch), capturedImage: nonnilBuffer)
+            XCTAssertEqual(filter.accepts(frame), .accepted)
+            pitch = deg2rad(30)
+            frame = MockFrame(fmCamera: MockCamera(pitch: pitch), capturedImage: nonnilBuffer)
+            XCTAssertEqual(filter.accepts(frame), .accepted)
+            pitch = deg2rad(60)
+            frame = MockFrame(fmCamera: MockCamera(pitch: pitch), capturedImage: nonnilBuffer)
+            XCTAssertEqual(filter.accepts(frame), .rejected(reason: .pitchTooHigh))
+       } else {
+            print ("Couldn't allocate mock pixel buffer")
+        }
+    }
+
+    func testBlurFilter() {
+        let filter = FMBlurFilter()
+        let dayScan = UIImage(named: "dayScan", in: Bundle(for: type(of: self)), compatibleWith: nil)
+        let dayScanFrame = MockFrame(capturedImage: dayScan!.pixelBuffer()!)
+        let nightScan = UIImage(named: "nightScan", in: Bundle(for: type(of: self)), compatibleWith: nil)
+        let nightScanFrame = MockFrame(capturedImage: nightScan!.pixelBuffer()!)
+
+        // nighttime passes twice because of no throughput
+        XCTAssertEqual(filter.accepts(nightScanFrame), .accepted)
+        XCTAssertEqual(filter.accepts(nightScanFrame), .accepted)
+        // daytime passes because it has enough variance
+        XCTAssertEqual(filter.accepts(dayScanFrame), .accepted)
+        XCTAssertEqual(filter.accepts(dayScanFrame), .accepted)
+        XCTAssertEqual(filter.accepts(dayScanFrame), .accepted)
+        XCTAssertEqual(filter.accepts(dayScanFrame), .accepted)
+        // nighttime is rejected 6 times because it is too blurry and the throughput is superior to 0.25 on the last 8 frames
+        XCTAssertEqual(filter.accepts(nightScanFrame), .rejected(reason: .imageTooBlurry))
+        XCTAssertEqual(filter.accepts(nightScanFrame), .rejected(reason: .imageTooBlurry))
+        XCTAssertEqual(filter.accepts(nightScanFrame), .rejected(reason: .imageTooBlurry))
+        XCTAssertEqual(filter.accepts(nightScanFrame), .rejected(reason: .imageTooBlurry))
+        XCTAssertEqual(filter.accepts(nightScanFrame), .rejected(reason: .imageTooBlurry))
+        XCTAssertEqual(filter.accepts(nightScanFrame), .rejected(reason: .imageTooBlurry))
+        // on the 7th nighttime picture in a row, throughput gets back under 0.25 and it passes again
+        XCTAssertEqual(filter.accepts(nightScanFrame), .accepted)
+        XCTAssertEqual(filter.accepts(nightScanFrame), .accepted)
+        XCTAssertEqual(filter.accepts(nightScanFrame), .accepted)
+        XCTAssertEqual(filter.accepts(nightScanFrame), .accepted)
+    }
+}

FantasmoSDKTests/SDKGeometricTests.swift

@@ -0,0 +1,97 @@
+//
+//  SDKGeometricTests.swift
+//  FantasmoSDKTests
+//
+//  Created by lucas kuzma on 8/4/21.
+//  Modified by che fisher on 27/9/21.
+
+import XCTest
+import CoreLocation
+import ARKit
+
+class SDKGeometricTests: XCTestCase {
+
+    override class func setUp() {
+        // Put setup code here that is run once (equal to mocha "before" hook)
+    }
+
+    override func setUpWithError() throws {
+        // Put setup code here is run before each test (equal to mocha "beforeEach" hook)
+    }
+
+    override func tearDownWithError() throws {
+        // Put teardown code that is run after each test case (equal to mocha "afterEach" hook)
+    }
+
+    override class func tearDown() {
+        // Put teardown code that is run once (equal to mocha "after" hook)
+    }
+
+    func testGeometricMedian() throws {
+        var locations: [CLLocation] = []
+        var median = CLLocation()
+        var expected = CLLocation()
+
+        locations.append(CLLocation(latitude: 0, longitude: 0))
+        median = CLLocation.geometricMedian(locations)
+        print(median.coordinate)
+
+        expected = CLLocation(latitude: 0, longitude: 0);
+        XCTAssertLessThan(median.degreeDistance(from: expected), 0.001)
+
+        locations = []
+        locations.append(CLLocation(latitude: 10, longitude: 0))
+        locations.append(CLLocation(latitude: -10, longitude: 0))
+        median = CLLocation.geometricMedian(locations)
+        print(median.coordinate)
+
+        expected = CLLocation(latitude: 0, longitude: 0);
+        XCTAssertLessThan(median.degreeDistance(from: expected), 0.001)
+
+        locations.append(CLLocation(latitude: 0, longitude: 10))
+        median = CLLocation.geometricMedian(locations)
+        print(median.coordinate)
+
+        expected = CLLocation(latitude: 0, longitude: 5.77);
+        XCTAssertLessThan(median.degreeDistance(from: expected), 0.01)
+
+        locations = []
+        locations.append(CLLocation(latitude: 10, longitude: 10))
+        locations.append(CLLocation(latitude: 20, longitude: 10))
+        locations.append(CLLocation(latitude: 10, longitude: 20))
+        locations.append(CLLocation(latitude: 20, longitude: 20))
+        median = CLLocation.geometricMedian(locations)
+        print(median.coordinate)
+
+        expected = CLLocation(latitude: 15, longitude: 15);
+        XCTAssertLessThan(median.degreeDistance(from: expected), 0.01)
+
+        locations.append(CLLocation(latitude: 15, longitude: 15))
+        median = CLLocation.geometricMedian(locations)
+        print(median.coordinate)
+
+        XCTAssertLessThan(median.degreeDistance(from: expected), 0.01)
+    }
+
+    func testGeometricMedianColinear() throws {
+        var locations: [CLLocation] = []
+        var median = CLLocation()
+        var expected = CLLocation()
+
+        locations = []
+        locations.append(CLLocation(latitude: 0, longitude: 0))
+        locations.append(CLLocation(latitude: 0, longitude: 10))
+        median = CLLocation.geometricMedian(locations)
+        print(median.coordinate)
+
+        expected = CLLocation(latitude: 0, longitude: 5);
+        XCTAssertLessThan(median.degreeDistance(from: expected), 0.01)
+
+        locations.append(CLLocation(latitude: 0, longitude: 20))
+        median = CLLocation.geometricMedian(locations)
+        print(median.coordinate)
+
+        expected = CLLocation(latitude: 0, longitude: 10);
+        XCTAssertLessThan(median.degreeDistance(from: expected), 0.01)
+    }
+}