BNO08xTestHelper Class Reference

BNO08x unit test helper class. More...

#include <BNO08xTestHelper.hpp>

Collaboration diagram for BNO08xTestHelper:

Classes
struct	imu_report_data_t
	IMU configuration settings passed into constructor. More...

Public Types
typedef struct BNO08xTestHelper::imu_report_data_t	imu_report_data_t
	IMU configuration settings passed into constructor.

Static Public Member Functions
static void	print_test_start_banner (const char *TEST_TAG)
	Prints test begin banner.
static void	print_test_end_banner (const char *TEST_TAG)
	Prints end begin banner.
static void	print_test_msg (const char *TEST_TAG, const char *msg)
	Prints a message during a test.
static void	set_test_imu_cfg (bno08x_config_t cfg)
	Set test imu configuration used with create_test_imu()
static void	create_test_imu ()
	Calls BNO08x constructor and creates new test IMU on heap.
static void	destroy_test_imu ()
	Deletes test IMU calling deconstructor and releases heap allocated memory.
static BNO08x *	get_test_imu ()
	Deletes test IMU calling deconstructor and releases heap allocated memory.
static esp_err_t	call_init_config_args ()
	Used to call private BNO08x::init_config_args() member for tests.
static esp_err_t	call_init_gpio ()
	Used to call private BNO08x::init_gpio() member for tests.
static esp_err_t	call_init_hint_isr ()
	Used to call private BNO08x::init_hint_isr() member for tests.
static esp_err_t	call_init_spi ()
	Used to call private BNO08x::init_spi() member for tests.
static esp_err_t	call_launch_tasks ()
	Used to call private BNO08x::launch_tasks() member for tests.
static bool	rotation_vector_data_is_new (imu_report_data_t *report_data, imu_report_data_t *default_report_data)
	Checks if report_data matches the default states stored within prev_report_data data for respective report.
static bool	gyro_integrated_rotation_vector_data_is_new (imu_report_data_t *report_data, imu_report_data_t *default_report_data)
	Checks if report_data matches the default states stored within prev_report_data data for respective report.
static bool	uncalibrated_gyro_data_is_new (imu_report_data_t *report_data, imu_report_data_t *default_report_data)
	Checks if report_data matches the default states stored within prev_report_data data for respective report.
static bool	calibrated_gyro_data_is_new (imu_report_data_t *report_data, imu_report_data_t *default_report_data)
	Checks if report_data matches the default states stored within prev_report_data data for respective report.
static bool	accelerometer_data_is_new (imu_report_data_t *report_data, imu_report_data_t *default_report_data)
	Checks if report_data matches the default states stored within prev_report_data data for respective report.
static bool	linear_accelerometer_data_is_new (imu_report_data_t *report_data, imu_report_data_t *default_report_data)
	Checks if report_data matches the default states stored within prev_report_data data for respective report.
static bool	gravity_data_is_new (imu_report_data_t *report_data, imu_report_data_t *default_report_data)
	Checks if report_data matches the default states stored within prev_report_data data for respective report.
static bool	magnetometer_data_is_new (imu_report_data_t *report_data, imu_report_data_t *default_report_data)
	Checks if report_data matches the default states stored within prev_report_data data for respective report.
static bool	step_counter_data_is_new (imu_report_data_t *report_data, imu_report_data_t *default_report_data)
	Checks if report_data matches the default states stored within prev_report_data data for respective report.
static bool	stability_classifier_data_is_new (imu_report_data_t *report_data, imu_report_data_t *default_report_data)
	Checks if report_data matches the default states stored within prev_report_data data for respective report.
static bool	activity_classifier_data_is_new (imu_report_data_t *report_data, imu_report_data_t *default_report_data)
	Checks if report_data matches the default states stored within prev_report_data data for respective report.
static void	update_report_data (imu_report_data_t *report_data)
	Updates report data with calls relevant test_imu methods.
static void	reset_all_imu_data_to_test_defaults ()
	Resets internal test imu data with test defaults.
static const char *	BNO08xAccuracy_to_str (BNO08xAccuracy accuracy)
	Converts BNO08xAccuracy enum class object to string.
static const char *	BNO08xStability_to_str (BNO08xStability stability)
	Converts BNO08xStability enum class object to string.
static const char *	BNO08xActivity_to_str (BNO08xActivity activity)
	Converts BNO08xActivity enum class object to string.

Static Private Attributes
static BNO08x *	test_imu = nullptr
static bno08x_config_t	imu_cfg
static const constexpr char *	TAG = "BNO08xTestHelper"

Detailed Description

BNO08x unit test helper class.

Member Typedef Documentation

imu_report_data_t

typedef struct BNO08xTestHelper::imu_report_data_t BNO08xTestHelper::imu_report_data_t

IMU configuration settings passed into constructor.

Member Function Documentation

accelerometer_data_is_new()

static bool BNO08xTestHelper::accelerometer_data_is_new ( imu_report_data_t * report_data, imu_report_data_t * default_report_data )

inlinestatic

Checks if report_data matches the default states stored within prev_report_data data for respective report.

Parameters

report_data	Current report data.
default_report_data	Default report data to compare (should always contain default values)

Returns

True if new data was received for respective report.

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activity_classifier_data_is_new()

static bool BNO08xTestHelper::activity_classifier_data_is_new ( imu_report_data_t * report_data, imu_report_data_t * default_report_data )

inlinestatic

Checks if report_data matches the default states stored within prev_report_data data for respective report.

Parameters

report_data	Current report data.
default_report_data	Default report data to compare (should always contain default values)

Returns

True if new data was received for respective report.

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BNO08xAccuracy_to_str()

static const char * BNO08xTestHelper::BNO08xAccuracy_to_str ( BNO08xAccuracy accuracy )

inlinestatic

Converts BNO08xAccuracy enum class object to string.

Parameters

report_data

BNO08xAccuracy object to convert to string.

Returns

The resulting string conversion.

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BNO08xActivity_to_str()

static const char * BNO08xTestHelper::BNO08xActivity_to_str ( BNO08xActivity activity )

inlinestatic

Converts BNO08xActivity enum class object to string.

Parameters

activity

BNO08xActivity object to convert to string.

Returns

The resulting string conversion.

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BNO08xStability_to_str()

static const char * BNO08xTestHelper::BNO08xStability_to_str ( BNO08xStability stability )

inlinestatic

Converts BNO08xStability enum class object to string.

Parameters

stability

BNO08xStability object to convert to string.

Returns

The resulting string conversion.

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calibrated_gyro_data_is_new()

static bool BNO08xTestHelper::calibrated_gyro_data_is_new ( imu_report_data_t * report_data, imu_report_data_t * default_report_data )

inlinestatic

Checks if report_data matches the default states stored within prev_report_data data for respective report.

Parameters

report_data	Current report data.
default_report_data	Default report data to compare (should always contain default values)

Returns

True if new data was received for respective report.

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call_init_config_args()

static esp_err_t BNO08xTestHelper::call_init_config_args ( )

inlinestatic

Used to call private BNO08x::init_config_args() member for tests.

Returns

ESP_OK if init succeeded.

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call_init_gpio()

static esp_err_t BNO08xTestHelper::call_init_gpio ( )

inlinestatic

Used to call private BNO08x::init_gpio() member for tests.

Returns

ESP_OK if init succeeded.

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call_init_hint_isr()

static esp_err_t BNO08xTestHelper::call_init_hint_isr ( )

inlinestatic

Used to call private BNO08x::init_hint_isr() member for tests.

Returns

ESP_OK if init succeeded.

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call_init_spi()

static esp_err_t BNO08xTestHelper::call_init_spi ( )

inlinestatic

Used to call private BNO08x::init_spi() member for tests.

Returns

ESP_OK if init succeeded.

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call_launch_tasks()

static esp_err_t BNO08xTestHelper::call_launch_tasks ( )

inlinestatic

Used to call private BNO08x::launch_tasks() member for tests.

Returns

ESP_OK if init succeeded.

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create_test_imu()

static void BNO08xTestHelper::create_test_imu ( )

inlinestatic

Calls BNO08x constructor and creates new test IMU on heap.

Returns

void, nothing to return

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destroy_test_imu()

static void BNO08xTestHelper::destroy_test_imu ( )

inlinestatic

Deletes test IMU calling deconstructor and releases heap allocated memory.

Returns

void, nothing to return

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get_test_imu()

static BNO08x * BNO08xTestHelper::get_test_imu ( )

inlinestatic

Deletes test IMU calling deconstructor and releases heap allocated memory.

Returns

Pointer to BNO08x IMU object to test.

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gravity_data_is_new()

static bool BNO08xTestHelper::gravity_data_is_new ( imu_report_data_t * report_data, imu_report_data_t * default_report_data )

inlinestatic

Checks if report_data matches the default states stored within prev_report_data data for respective report.

Parameters

report_data	Current report data.
default_report_data	Default report data to compare (should always contain default values)

Returns

True if new data was received for respective report.

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gyro_integrated_rotation_vector_data_is_new()

static bool BNO08xTestHelper::gyro_integrated_rotation_vector_data_is_new ( imu_report_data_t * report_data, imu_report_data_t * default_report_data )

inlinestatic

Checks if report_data matches the default states stored within prev_report_data data for respective report.

Parameters

report_data	Current report data.
default_report_data	Default report data to compare (should always contain default values)

Returns

True if new data was received for respective report.

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linear_accelerometer_data_is_new()

static bool BNO08xTestHelper::linear_accelerometer_data_is_new ( imu_report_data_t * report_data, imu_report_data_t * default_report_data )

inlinestatic

Checks if report_data matches the default states stored within prev_report_data data for respective report.

Parameters

report_data	Current report data.
default_report_data	Default report data to compare (should always contain default values)

Returns

True if new data was received for respective report.

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magnetometer_data_is_new()

static bool BNO08xTestHelper::magnetometer_data_is_new ( imu_report_data_t * report_data, imu_report_data_t * default_report_data )

inlinestatic

Checks if report_data matches the default states stored within prev_report_data data for respective report.

Parameters

report_data	Current report data.
default_report_data	Default report data to compare (should always contain default values)

Returns

True if new data was received for respective report.

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print_test_end_banner()

static void BNO08xTestHelper::print_test_end_banner ( const char * TEST_TAG )

inlinestatic

Prints end begin banner.

Parameters

TEST_TAG

String containing test name.

Returns

void, nothing to return

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print_test_msg()

BNO08xTestHelper::print_test_msg ( const char * TEST_TAG, const char * msg )

inlinestatic

Prints a message during a test.

Parameters

TEST_TAG	String containing test name.
msg	String containing message to print.

Returns

void, nothing to return

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print_test_start_banner()

static void BNO08xTestHelper::print_test_start_banner ( const char * TEST_TAG )

inlinestatic

Prints test begin banner.

Parameters

TEST_TAG

String containing test name.

Returns

void, nothing to return

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reset_all_imu_data_to_test_defaults()

BNO08xTestHelper::reset_all_imu_data_to_test_defaults ( )

inlinestatic

Resets internal test imu data with test defaults.

Returns

void, nothing to return.

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rotation_vector_data_is_new()

static bool BNO08xTestHelper::rotation_vector_data_is_new ( imu_report_data_t * report_data, imu_report_data_t * default_report_data )

inlinestatic

Checks if report_data matches the default states stored within prev_report_data data for respective report.

Parameters

report_data	Current report data.
default_report_data	Default report data to compare (should always contain default values)

Returns

True if new data was received for respective report.

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set_test_imu_cfg()

static void BNO08xTestHelper::set_test_imu_cfg ( bno08x_config_t cfg )

inlinestatic

Set test imu configuration used with create_test_imu()

Parameters

cfg	String containing test name.

Returns

void, nothing to return

stability_classifier_data_is_new()

static bool BNO08xTestHelper::stability_classifier_data_is_new ( imu_report_data_t * report_data, imu_report_data_t * default_report_data )

inlinestatic

Checks if report_data matches the default states stored within prev_report_data data for respective report.

Parameters

report_data	Current report data.
default_report_data	Default report data to compare (should always contain default values)

Returns

True if new data was received for respective report.

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step_counter_data_is_new()

static bool BNO08xTestHelper::step_counter_data_is_new ( imu_report_data_t * report_data, imu_report_data_t * default_report_data )

inlinestatic

Checks if report_data matches the default states stored within prev_report_data data for respective report.

Parameters

report_data	Current report data.
default_report_data	Default report data to compare (should always contain default values)

Returns

True if new data was received for respective report.

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uncalibrated_gyro_data_is_new()

static bool BNO08xTestHelper::uncalibrated_gyro_data_is_new ( imu_report_data_t * report_data, imu_report_data_t * default_report_data )

inlinestatic

Checks if report_data matches the default states stored within prev_report_data data for respective report.

Parameters

report_data	Current report data.
default_report_data	Default report data to compare (should always contain default values)

Returns

True if new data was received for respective report.

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update_report_data()

static void BNO08xTestHelper::update_report_data ( imu_report_data_t * report_data )

inlinestatic

Updates report data with calls relevant test_imu methods.

Parameters

report_data

Pointer to imu_report_data_t struct to save report data.

Returns

void, noting to return.

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Member Data Documentation

imu_cfg

bno08x_config_t BNO08xTestHelper::imu_cfg

inlinestaticprivate

TAG

const constexpr char* BNO08xTestHelper::TAG = "BNO08xTestHelper"

staticconstexprprivate

test_imu

BNO08x* BNO08xTestHelper::test_imu = nullptr

inlinestaticprivate

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The documentation for this class was generated from the following files:

• BNO08xTestHelper.hpp
• CallbackTests.cpp