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esp32_BNO08x/test/MultiReportTests.cpp

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MultiReportTests, unit test refactoring
2024-11-17 20:36:19 +00:00
#include "unity.h"
#include "../include/BNO08xTestHelper.hpp"
TEST_CASE("BNO08x Driver Creation for [MultiReportEnableDisable] Tests", "[MultiReportEnableDisable]")
{
const constexpr char* TEST_TAG = "BNO08x Driver Creation for [MultiReportEnableDisable] Tests";
BNO08x* imu = nullptr;
BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver.");
BNO08xTestHelper::create_test_imu();
imu = BNO08xTestHelper::get_test_imu();
// ensure IMU initialized successfully
TEST_ASSERT_EQUAL(true, imu->initialize());
}
TEST_CASE("Dual Report Enable/Disable", "[MultiReportEnableDisable]")
{
const constexpr char* TEST_TAG = "Dual Report Enable/Disable";
BNO08x* imu = nullptr;
BNO08xTestHelper::imu_report_data_t report_data;
BNO08xTestHelper::imu_report_data_t prev_report_data;
char msg_buff[200] = {};
const constexpr uint8_t ENABLED_REPORT_CNT = 2;
More MultiReportTests
2024-11-17 21:41:19 +00:00
const constexpr uint8_t RX_REPORT_TRIAL_CNT = 2 * ENABLED_REPORT_CNT;
MultiReportTests, unit test refactoring
2024-11-17 20:36:19 +00:00
const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
bool new_data[ENABLED_REPORT_CNT] = {false, false};
imu = BNO08xTestHelper::get_test_imu();
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
BNO08xTestHelper::update_report_data(&report_data);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Enabling Accelerometer and Linear Accelerometer reports, checking for new data on both.");
imu->enable_accelerometer(REPORT_PERIOD);
imu->enable_linear_accelerometer(REPORT_PERIOD);
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data);
// check if any default values have been overwritten, implying new data from respective report
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[0] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
"%.2lf Accuracy %s",
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[1] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
}
}
// check that new data was received for each report
TEST_ASSERT_EQUAL(true, new_data[0]);
TEST_ASSERT_EQUAL(true, new_data[1]);
// reset all data used in report test
new_data[0] = false;
new_data[1] = false;
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
BNO08xTestHelper::update_report_data(&report_data);
More MultiReportTests
2024-11-17 21:41:19 +00:00
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling only Linear Accelerometer report and checking for new data on both.");
MultiReportTests, unit test refactoring
2024-11-17 20:36:19 +00:00
imu->disable_linear_accelerometer();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data);
// check if any default values have been overwritten, implying new data from respective report
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[0] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
"%.2lf Accuracy %s",
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
{
// no new data should be detected here, report is disabled.
new_data[1] = true;
sprintf(msg_buff,
"Rx Data Trial %d Failure (REPORT DISABLED): LinearAccel: laX: %.2lf laY: %.2lf laZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
}
}
// check that new data was received only for accelerometer report
TEST_ASSERT_EQUAL(true, new_data[0]);
TEST_ASSERT_NOT_EQUAL(true, new_data[1]);
More MultiReportTests
2024-11-17 21:41:19 +00:00
BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling Accelerometer report");
MultiReportTests, unit test refactoring
2024-11-17 20:36:19 +00:00
imu->disable_accelerometer();
}
More MultiReportTests
2024-11-17 21:41:19 +00:00
TEST_CASE("Tri Report Enable/Disable", "[MultiReportEnableDisable]")
{
const constexpr char* TEST_TAG = "Tri Report Enable/Disable";
BNO08x* imu = nullptr;
BNO08xTestHelper::imu_report_data_t report_data;
BNO08xTestHelper::imu_report_data_t prev_report_data;
char msg_buff[200] = {};
const constexpr uint8_t ENABLED_REPORT_CNT = 3;
const constexpr uint8_t RX_REPORT_TRIAL_CNT = 2 * ENABLED_REPORT_CNT;
const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
bool new_data[ENABLED_REPORT_CNT] = {false, false, false};
imu = BNO08xTestHelper::get_test_imu();
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
BNO08xTestHelper::update_report_data(&report_data);
BNO08xTestHelper::print_test_msg(
TEST_TAG, "Enabling Accelerometer, Linear Accelerometer, and Magnetometer reports, checking for new data on all.");
imu->enable_accelerometer(REPORT_PERIOD);
imu->enable_linear_accelerometer(REPORT_PERIOD);
imu->enable_magnetometer(REPORT_PERIOD);
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data);
// check if any default values have been overwritten, implying new data from respective report
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[0] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
"%.2lf Accuracy %s",
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[1] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
{
new_data[2] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: Magf: mX: %.2lf mY: %.2lf mZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
}
}
// check that new data was received for each report
TEST_ASSERT_EQUAL(true, new_data[0]);
TEST_ASSERT_EQUAL(true, new_data[1]);
TEST_ASSERT_EQUAL(true, new_data[2]);
// reset all data used in report test
new_data[0] = false;
new_data[1] = false;
new_data[2] = false;
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
BNO08xTestHelper::update_report_data(&report_data);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Magnetometer report and checking for new data on remaining reports.");
imu->disable_magnetometer();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data);
// check if any default values have been overwritten, implying new data from respective report
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[0] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
"%.2lf Accuracy %s",
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[1] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
{
new_data[2] = true;
sprintf(msg_buff,
"Rx Data Trial %d Failure (REPORT DISABLED): Magf: mX: %.2lf mY: %.2lf mZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
}
}
// check that new data was received for only enabled reports
TEST_ASSERT_EQUAL(true, new_data[0]);
TEST_ASSERT_EQUAL(true, new_data[1]);
TEST_ASSERT_NOT_EQUAL(true, new_data[2]);
// reset all data used in report test
new_data[0] = false;
new_data[1] = false;
new_data[2] = false;
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
BNO08xTestHelper::update_report_data(&report_data);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Linear Accelerometer report and checking for new data on remaining reports.");
imu->disable_linear_accelerometer();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data);
// check if any default values have been overwritten, implying new data from respective report
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[0] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
"%.2lf Accuracy %s",
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
{
// no new data should be detected here, report is disabled.
new_data[1] = true;
sprintf(msg_buff,
"Rx Data Trial %d Failure (REPORT DISABLED): LinearAccel: laX: %.2lf laY: %.2lf laZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
{
new_data[2] = true;
sprintf(msg_buff,
"Rx Data Trial %d Failure (REPORT DISABLED): Magf: mX: %.2lf mY: %.2lf mZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
}
}
// check that new data was received for only enabled reports
TEST_ASSERT_EQUAL(true, new_data[0]);
TEST_ASSERT_NOT_EQUAL(true, new_data[1]);
TEST_ASSERT_NOT_EQUAL(true, new_data[2]);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling Accelerometer report");
imu->disable_accelerometer();
}
TEST_CASE("Quad Report Enable/Disable", "[MultiReportEnableDisable]")
{
const constexpr char* TEST_TAG = "Quad Report Enable/Disable";
BNO08x* imu = nullptr;
BNO08xTestHelper::imu_report_data_t report_data;
BNO08xTestHelper::imu_report_data_t prev_report_data;
char msg_buff[200] = {};
const constexpr uint8_t ENABLED_REPORT_CNT = 4;
const constexpr uint8_t RX_REPORT_TRIAL_CNT = 2 * ENABLED_REPORT_CNT;
const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
bool new_data[ENABLED_REPORT_CNT] = {false, false, false, false};
imu = BNO08xTestHelper::get_test_imu();
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
BNO08xTestHelper::update_report_data(&report_data);
BNO08xTestHelper::print_test_msg(
TEST_TAG, "Enabling Accelerometer, Linear Accelerometer, Magnetometer, and Rotation Vector reports, checking for new data on all.");
imu->enable_accelerometer(REPORT_PERIOD);
imu->enable_linear_accelerometer(REPORT_PERIOD);
imu->enable_magnetometer(REPORT_PERIOD);
imu->enable_rotation_vector(REPORT_PERIOD);
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data);
// check if any default values have been overwritten, implying new data from respective report
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[0] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
"%.2lf Accuracy %s",
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[1] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
{
new_data[2] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: Magf: mX: %.2lf mY: %.2lf mZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data))
{
new_data[3] = true;
sprintf(msg_buff, "Rx Data Trial %d Success: Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1), report_data.quat_I,
report_data.quat_J, report_data.quat_K, report_data.quat_real,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
}
}
// check that new data was received for each report
TEST_ASSERT_EQUAL(true, new_data[0]);
TEST_ASSERT_EQUAL(true, new_data[1]);
TEST_ASSERT_EQUAL(true, new_data[2]);
TEST_ASSERT_EQUAL(true, new_data[3]);
// reset all data used in report test
new_data[0] = false;
new_data[1] = false;
new_data[2] = false;
new_data[3] = false;
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
BNO08xTestHelper::update_report_data(&report_data);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Rotation Vector report and checking for new data on remaining reports.");
imu->disable_rotation_vector();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data);
// check if any default values have been overwritten, implying new data from respective report
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[0] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
"%.2lf Accuracy %s",
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[1] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
{
new_data[2] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: Magf: mX: %.2lf mY: %.2lf mZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data))
{
new_data[3] = true;
sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1),
report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
}
}
// check that new data was received for only enabled reports
TEST_ASSERT_EQUAL(true, new_data[0]);
TEST_ASSERT_EQUAL(true, new_data[1]);
TEST_ASSERT_EQUAL(true, new_data[2]);
TEST_ASSERT_NOT_EQUAL(true, new_data[3]);
// reset all data used in report test
new_data[0] = false;
new_data[1] = false;
new_data[2] = false;
new_data[3] = false;
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
BNO08xTestHelper::update_report_data(&report_data);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Magnetometer report and checking for new data on remaining reports.");
imu->disable_magnetometer();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data);
// check if any default values have been overwritten, implying new data from respective report
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[0] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
"%.2lf Accuracy %s",
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[1] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
{
new_data[2] = true;
sprintf(msg_buff,
"Rx Data Trial %d Failure (REPORT DISABLED): Magf: mX: %.2lf mY: %.2lf mZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data))
{
new_data[3] = true;
sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1),
report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
}
}
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Linear Accelerometer report and checking for new data on remaining reports.");
imu->disable_linear_accelerometer();
// check that new data was received for only enabled reports
TEST_ASSERT_EQUAL(true, new_data[0]);
TEST_ASSERT_EQUAL(true, new_data[1]);
TEST_ASSERT_NOT_EQUAL(true, new_data[2]);
TEST_ASSERT_NOT_EQUAL(true, new_data[3]);
// reset all data used in report test
new_data[0] = false;
new_data[1] = false;
new_data[2] = false;
new_data[3] = false;
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
BNO08xTestHelper::update_report_data(&report_data);
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data);
// check if any default values have been overwritten, implying new data from respective report
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[0] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
"%.2lf Accuracy %s",
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[1] = true;
sprintf(msg_buff,
"Rx Data Trial %d Failure (REPORT DISABLED): LinearAccel: laX: %.2lf laY: %.2lf laZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
{
new_data[2] = true;
sprintf(msg_buff,
"Rx Data Trial %d Failure (REPORT DISABLED): Magf: mX: %.2lf mY: %.2lf mZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data))
{
new_data[3] = true;
sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1),
report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
}
}
// check that new data was received for only enabled reports
TEST_ASSERT_EQUAL(true, new_data[0]);
TEST_ASSERT_NOT_EQUAL(true, new_data[1]);
TEST_ASSERT_NOT_EQUAL(true, new_data[2]);
TEST_ASSERT_NOT_EQUAL(true, new_data[3]);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling Accelerometer report");
imu->disable_accelerometer();
}
TEST_CASE("Hex Report Enable", "[MultiReportEnableDisable]")
{
const constexpr char* TEST_TAG = "Hex Report Enable";
BNO08x* imu = nullptr;
BNO08xTestHelper::imu_report_data_t report_data;
BNO08xTestHelper::imu_report_data_t prev_report_data;
char msg_buff[200] = {};
const constexpr uint8_t ENABLED_REPORT_CNT = 8;
const constexpr uint8_t RX_REPORT_TRIAL_CNT = 2 * ENABLED_REPORT_CNT;
const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
bool new_data[ENABLED_REPORT_CNT] = {false, false, false, false, false, false, false, false};
imu = BNO08xTestHelper::get_test_imu();
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
BNO08xTestHelper::update_report_data(&report_data);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Enabling Accelerometer, Linear Accelerometer, Magnetometer, Rotation Vector, Uncalibrated Gyro, "
"Calibrated Gyro, Gravity, and Step Counter "
"reports, checking for new data on all.");
imu->enable_accelerometer(REPORT_PERIOD);
imu->enable_linear_accelerometer(REPORT_PERIOD);
imu->enable_magnetometer(REPORT_PERIOD);
imu->enable_rotation_vector(REPORT_PERIOD);
imu->enable_uncalibrated_gyro(REPORT_PERIOD);
imu->enable_calibrated_gyro(REPORT_PERIOD);
imu->enable_gravity(REPORT_PERIOD);
imu->enable_step_counter(REPORT_PERIOD);
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data);
// check if any default values have been overwritten, implying new data from respective report
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[0] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
"%.2lf Accuracy %s",
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
{
new_data[1] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
{
new_data[2] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: Magf: mX: %.2lf mY: %.2lf mZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data))
{
new_data[3] = true;
sprintf(msg_buff, "Rx Data Trial %d Success: Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1), report_data.quat_I,
report_data.quat_J, report_data.quat_K, report_data.quat_real,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::uncalibrated_gyro_data_is_new(&report_data, &prev_report_data))
{
new_data[4] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: UncalibratedGyro: vX: %.2lf vY: %.2lf vZ: %.2lf driftX: %.2lf driftY: %.2lf driftZ: "
"%.2lf",
(i + 1), report_data.uncalib_gyro_vel_x, report_data.uncalib_gyro_vel_y, report_data.uncalib_gyro_vel_z,
report_data.uncalib_gyro_drift_x, report_data.uncalib_gyro_drift_y, report_data.uncalib_gyro_drift_z);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::calibrated_gyro_data_is_new(&report_data, &prev_report_data))
{
new_data[5] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: CalibratedGyro: vX: %.2lf vY: %.2lf vZ: "
"%.2lf",
(i + 1), report_data.calib_gyro_vel_x, report_data.calib_gyro_vel_y, report_data.calib_gyro_vel_z);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::gravity_data_is_new(&report_data, &prev_report_data))
{
new_data[6] = true;
sprintf(msg_buff,
"Rx Data Trial %d Success: Gravity: gX: %.2lf gY: %.2lf gZ: "
"%.2lf Accuracy: %s",
(i + 1), report_data.grav_x, report_data.grav_y, report_data.grav_z,
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.grav_accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
if (BNO08xTestHelper::step_counter_data_is_new(&report_data, &prev_report_data))
{
new_data[7] = true;
sprintf(msg_buff, "Rx Data Trial %d Success: StepCounter: %d steps", (i + 1), report_data.step_count);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
}
}
}
// check that new data was received for each report
TEST_ASSERT_EQUAL(true, new_data[0]);
TEST_ASSERT_EQUAL(true, new_data[1]);
TEST_ASSERT_EQUAL(true, new_data[2]);
TEST_ASSERT_EQUAL(true, new_data[3]);
TEST_ASSERT_EQUAL(true, new_data[4]);
TEST_ASSERT_EQUAL(true, new_data[5]);
TEST_ASSERT_EQUAL(true, new_data[6]);
TEST_ASSERT_EQUAL(true, new_data[7]);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling all reports.");
imu->disable_accelerometer();
imu->disable_linear_accelerometer();
imu->disable_magnetometer();
imu->disable_rotation_vector();
imu->disable_uncalibrated_gyro();
imu->disable_calibrated_gyro();
imu->disable_gravity();
imu->disable_step_counter();
}
MultiReportTests, unit test refactoring
2024-11-17 20:36:19 +00:00
TEST_CASE("BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests", "[MultiReportEnableDisable]")
{
const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests";
BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
BNO08xTestHelper::destroy_test_imu();
}