motor_ctl-4/tests/sim/automation/ConditionCheck.m

function [result, msg] = ConditionCheck(check)

result = 0;
msg = '';

if check.fdb.Length < 2
    msg = 'Not enough data to verify condition';
    return;
end

if check.tolerance <= 0
    msg = 'Invalid tolerance setting';
    return;
end

if check.ref.Time(1) > 0
    check.ref = addsample(check.ref, 'Data', 0, 'Time', 0);
end

if check.ref.Time(end) < check.fdb.Time(end)
    check.ref = addsample(check.ref, 'Data', check.ref.Data(end), 'Time', check.fdb.Time(end));
end

if check.preprocess == 0
    % 不需要对数据进行预处理
    if isa(check.time, 'double') || isa(check.time, 'char')
        if isa(check.time, 'char')
            test_time = check.fdb.Time(end);
        else
            test_time = check.time;
        end
        
        if max(test_time) > check.fdb.Time(end)
            msg = 'Check time out of range';
            return;
        end
        if check.refIntp
            check.ref_cmp = resample(check.ref, test_time);
        else
            check.ref_cmp = resample(check.ref, test_time, 'zoh');
        end
        if check.fdbIntp
            check.fdb_cmp = resample(check.fdb, test_time);
        else
            check.fdb_cmp = resample(check.fdb, test_time, 'zoh');
        end
        res = check.condition.Test(check.ref_cmp.Data, check.fdb_cmp.Data, check.tolerance);
        if all(res)
            result = 1;
            msg = sprintf('[%s]: [%s] [%s] check passed', check.tag, check.fdb_name, check.condition.Name);
            return;
        else
            fail = not(res);
            fail_index = find(fail);
            result = 0;
            msg = sprintf('[%s]: [%s] [%s] check failed at time {%s}: Expected {%s}; Get {%s}', check.tag, check.fdb_name, check.condition.Name, mat2str(test_time(fail_index)), mat2str(check.ref_cmp.Data(fail_index)),  mat2str(check.fdb_cmp.Data(fail_index)));
            return;
        end
    else
        result = 0;
        msg = 'Invalid check time setting';
        return;
    end
else
    % 需要对数据进行预处理，即检查时间段内的情况
    test_time = check.fdb.time(find(and(check.fdb.Time > check.time(1), check.fdb.Time > check.time(1))));
    if check.refIntp
        check.ref_cmp = resample(check.ref, test_time);
    else
        check.ref_cmp = resample(check.ref, test_time, 'zoh');
    end
    if check.fdbIntp
        check.fdb_cmp = resample(check.fdb, test_time);
    else
        check.fdb_cmp = resample(check.fdb, test_time, 'zoh');
    end
    switch (check.adv)
        case {'A', 'Always'}
            res = check.condition.Test(check.ref_cmp.Data, check.fdb_cmp.Data, check.tolerance);
        case {'R', 'RMS'}
        case {'M', 'Mean'}
            res = check.condition.Test(mean(check.ref_cmp), mean(check.fdb_cmp), check.tolerance);
        case {'P', 'Peak2Peak'}
            res = check.condition.Test(check.ref_cmp.Data(1), max(check.fdb_cmp) - min(check.fdb_cmp), check.tolerance);
    end
    if all(res)
        result = 1;
        msg = sprintf('[%s]: [%s] [%s] check passed', check.tag, check.fdb_name, check.condition.Name);
        return;
    else
        fail = not(res);
        fail_index = find(fail);
        result = 0;
        msg = sprintf('[%s]: [%s] [%s-%s] check failed in duration {%s}: Expected {%s}; Get {%s}', check.tag, check.fdb_name, check.adv, check.condition.Name, mat2str(check.time), mat2str(check.ref_cmp.Data(fail_index(1))),  mat2str(check.fdb_cmp.Data(fail_index(1))));
        return;
    end     
end


end