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

function check = ParseCheck(check_in, case_in, connections)
%PARSE_CASE 此处显示有关此函数的摘要
%   此处显示详细说明
check.id = check_in.id;
check.tag = check_in.tag;
check.condition_str = check_in.condition;
check.condition.Name = '';
check.condition.Test = @() 0;
check.ref_name = '';
check.ref = timeseries(0, 0);
check.refIntp = 1;  %默认使能插值
check.fdb_name = '';
check.fdb = timeseries(0, 0);
check.fdbIntp = 1;  %默认使能插值

tmp.ref.time = 0;
tmp.ref.value = 0;
tmp.fdb.time = 0;
tmp.fdb.value = 0;

if isa(check_in.time, 'struct')
    check.preprocess = 1;
    check.time = check_in.time.duration;
    check.adv = check_in.time.adv;
else
    check.preprocess = 0;
    check.time = check_in.time;
    check.adv = 'None';
end

check.tolerance = check_in.tolerance;
if check.tolerance == 0
    check.tolerance = 1e-10;
end
check.test = @() 0;

if isa(check_in.ref, 'char')
    check.ref_name = check_in.ref;
    [tmp.ref.time, tmp.ref.value, check.refIntp] = GetSignal(check_in.ref, case_in, connections);
elseif isa(check_in.ref, 'double')
    tmp.ref.time = check.time;
    if (check.preprocess == 1)  
        tmp.ref.value = [check_in.ref; check_in.ref];
    else
        tmp.ref.value = check_in.ref;
    end
end

if isa(check_in.fdb, 'char')
    check.fdb_name = check_in.fdb;
    [tmp.fdb.time, tmp.fdb.value, check.fdbIntp] = GetSignal(check_in.fdb, case_in, connections);
elseif isa(check_in.fdb, 'double')
    tmp.fdb.time = check.time;
    if (check.preprocess == 1)   
        tmp.fdb.value = [check_in.fdb; check_in.fdb];
    else
        tmp.fdb.value = check_in.fdb;
    end
end

check.ref = timeseries(tmp.ref.value, tmp.ref.time);
check.fdb = timeseries(tmp.fdb.value, tmp.fdb.time);

switch(check_in.condition)
    case 'eq'
        check.condition.Name = 'Equal';
        check.condition.Test = @(ref, fdb, tor) and(fdb <= ref + tor, fdb >= ref - tor);
    case 'ne'
        check.condition.Name = 'NotEqual';
        check.condition.Test = @(ref, fdb, tor) or(fdb > ref + tor, fdb < ref - tor);
    case 'gt'
        check.condition.Name = 'GreaterThan';
        check.condition.Test = @(ref, fdb, tor) (fdb > ref);
    case 'ge'
        check.condition.Name = 'GreaterOrEqual';
        check.condition.Test = @(ref, fdb, tor) (fdb >= ref);
    case 'lt'
        check.condition.Name = 'LessThan';
        check.condition.Test = @(ref, fdb, tor) (fdb >= ref);
    case 'le'
        check.condition.Name = 'LessOrEqual';
        check.condition.Test = @(ref, fdb, tor) (fdb >= ref);
    case 'EqAngle'
        check.condition.Name = 'EqualAngle';
        check.condition.Test = @(ref, fdb, tor) ((mod(fdb - ref, 2*pi) < tor) || (mod(fdb - ref, 2*pi) > (2*pi - tor)));
    case 'In'
        check.condition.Name = 'In';
        check.condition.Test = @(ref, fdb, tor) and(fdb <= ref + tor, fdb >= ref - tor);
    case 'NotIn'
        check.condition.Name = 'NotIn';
        check.condition.Test = @(ref, fdb, tor) or(fdb > ref + tor, fdb < ref - tor);
end
check.test = @ConditionCheck;

end

function [time, value, intp] = GetSignal(tag, test, connections)

time = 0;
value = 0;
intp = 0;

for i = 1:length(test.Initializations)
    if strcmp(tag, test.Initializations(i).tag)
        time = 0;
        value = test.Initializations(i).value;
        return;
    end
end

for i = 1:length(test.Injections)
    if strcmp(tag, test.Injections(i).tag)
        time = test.Injections(i).time;
        value = test.Injections(i).value;
        if isfield(test.Injections(i), 'option')
            if isfield(test.Injections(i).option, 'interpolation')
                if test.Injections(i).option.interpolation
                    intp = 1;
                end
            end
        end
        return;
    end
end

for i = 1:length(test.Feedbacks)
    if strcmp(tag, test.Feedbacks(i).tag)
        [t, n, c] = SelectConnection(test.Feedbacks(i).tag, connections);
        if t == 'v' || t == 'a'
            time = evalin('base', n).Time;
            value = evalin('base', n).Data(:,c + 1);
            return;
        end
    end
end

end