2024-11-14 22:25:18 +00:00
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#include "unity.h"
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#include "../include/BNO08xTestHelper.hpp"
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2024-11-15 01:48:02 +00:00
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
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typedef struct imu_report_data_t
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{
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uint32_t time_stamp;
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float quat_I;
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float quat_J;
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float quat_K;
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float quat_real;
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IMUAccuracy raw_quat_radian_accuracy;
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IMUAccuracy quat_accuracy;
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2024-11-16 06:24:11 +00:00
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float gyro_vel_x;
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float gyro_vel_y;
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float gyro_vel_z;
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float accel_x;
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float accel_y;
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float accel_z;
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IMUAccuracy accel_accuracy;
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2024-11-15 01:48:02 +00:00
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} imu_report_data_t;
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void update_report_data(imu_report_data_t* report_data, BNO08x* imu)
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{
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uint8_t accel_accuracy = 0;
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2024-11-15 01:48:02 +00:00
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report_data->quat_I = imu->get_quat_I();
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report_data->quat_J = imu->get_quat_J();
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report_data->quat_K = imu->get_quat_K();
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report_data->quat_real = imu->get_quat_real();
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report_data->raw_quat_radian_accuracy = static_cast<IMUAccuracy>(imu->get_raw_quat_radian_accuracy());
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report_data->quat_accuracy = static_cast<IMUAccuracy>(imu->get_quat_accuracy());
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2024-11-16 06:24:11 +00:00
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imu->get_gyro_velocity(report_data->gyro_vel_x, report_data->gyro_vel_y, report_data->gyro_vel_z);
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imu->get_accel(report_data->accel_x, report_data->accel_y, report_data->accel_z, accel_accuracy);
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report_data->accel_accuracy = static_cast<IMUAccuracy>(accel_accuracy);
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2024-11-15 01:48:02 +00:00
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}
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TEST_CASE("Enable/Disable Rotation Vector", "[ReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable Rotation Vector";
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BNO08x* imu = nullptr;
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imu_report_data_t report_data;
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bool new_data = false;
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char msg_buff[200] = {};
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing IMU for Enable/Disable report tests.");
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BNO08xTestHelper::create_test_imu();
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imu = BNO08xTestHelper::get_test_imu();
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// ensure IMU initialized successfully
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TEST_ASSERT_EQUAL(true, imu->initialize());
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
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/*enable respective report to test and ensure it reports new data */
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imu->enable_rotation_vector(100000UL);
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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new_data = false;
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if (imu->data_available())
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{
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update_report_data(&report_data, imu);
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// check if any default values have been overwritten, implying new data from respective report
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if (report_data.quat_I != 0.0f)
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new_data = true;
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if (report_data.quat_J != 0.0f)
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new_data = true;
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if (report_data.quat_K != 0.0f)
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new_data = true;
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if (report_data.quat_real != 1.0f)
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new_data = true;
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// if the accuracy still contains its default value, something has gone wrong, a defined accuracy should be received with every report
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if (report_data.quat_accuracy == IMUAccuracy::UNDEFINED)
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new_data = false;
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if (report_data.raw_quat_radian_accuracy == IMUAccuracy::UNDEFINED)
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new_data = false;
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}
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// assert whether new data was received or not
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TEST_ASSERT_EQUAL(true, new_data);
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sprintf(msg_buff, "Enabled Report Rx Data Trial %d Success: I: %.2lf J: %.2lf K: %.2lf real: %.2lf", (i + 1), report_data.quat_I,
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report_data.quat_J, report_data.quat_K, report_data.quat_real);
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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}
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
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/*disable respective report to test and ensure it stops reporting new data */
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imu->disable_rotation_vector();
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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new_data = false;
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// use "true" argument to force wait for data even if no reports are enabled
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2024-11-16 06:24:11 +00:00
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if (imu->data_available())
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2024-11-15 01:48:02 +00:00
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{
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update_report_data(&report_data, imu);
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// check if any default values have been overwritten, implying new data from respective report
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if (report_data.quat_I != 0.0f)
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new_data = true;
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if (report_data.quat_J != 0.0f)
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new_data = true;
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if (report_data.quat_K != 0.0f)
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new_data = true;
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if (report_data.quat_real != 1.0f)
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new_data = true;
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// if the accuracy does not contain its default value, something has gone wrong, respective report should be disabled
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if (report_data.quat_accuracy != IMUAccuracy::UNDEFINED)
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new_data = true;
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if (report_data.raw_quat_radian_accuracy != IMUAccuracy::UNDEFINED)
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new_data = true;
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}
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// assert that no new data from this report has been received
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TEST_ASSERT_NOT_EQUAL(true, new_data);
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sprintf(msg_buff, "Disabled Report No Rx Data Trial %d Success", (i + 1));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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}
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable Game Rotation Vector", "[ReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable Game Rotation Vector";
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BNO08x* imu = nullptr;
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imu_report_data_t report_data;
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bool new_data = false;
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char msg_buff[200] = {};
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
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/*enable respective report to test and ensure it reports new data */
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imu->enable_game_rotation_vector(100000UL);
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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new_data = false;
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if (imu->data_available())
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{
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update_report_data(&report_data, imu);
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// check if any default values have been overwritten, implying new data from respective report
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if (report_data.quat_I != 0.0f)
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new_data = true;
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if (report_data.quat_J != 0.0f)
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new_data = true;
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if (report_data.quat_K != 0.0f)
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new_data = true;
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if (report_data.quat_real != 1.0f)
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new_data = true;
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// if the accuracy still contains its default value, something has gone wrong, a defined accuracy should be received with every report
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if (report_data.quat_accuracy == IMUAccuracy::UNDEFINED)
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new_data = false;
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if (report_data.raw_quat_radian_accuracy == IMUAccuracy::UNDEFINED)
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new_data = false;
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}
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// assert whether new data was received or not
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TEST_ASSERT_EQUAL(true, new_data);
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sprintf(msg_buff, "Enabled Report Rx Data Trial %d Success: I: %.2lf J: %.2lf K: %.2lf real: %.2lf", (i + 1), report_data.quat_I,
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report_data.quat_J, report_data.quat_K, report_data.quat_real);
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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}
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
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/*disable respective report to test and ensure it stops reporting new data */
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imu->disable_game_rotation_vector();
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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new_data = false;
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2024-11-16 06:24:11 +00:00
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if (imu->data_available())
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{
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update_report_data(&report_data, imu);
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// check if any default values have been overwritten, implying new data from respective report
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if (report_data.quat_I != 0.0f)
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new_data = true;
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if (report_data.quat_J != 0.0f)
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new_data = true;
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if (report_data.quat_K != 0.0f)
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new_data = true;
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if (report_data.quat_real != 1.0f)
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new_data = true;
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// if the accuracy does not contain its default value, something has gone wrong, respective report should be disabled
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if (report_data.quat_accuracy != IMUAccuracy::UNDEFINED)
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new_data = true;
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if (report_data.raw_quat_radian_accuracy != IMUAccuracy::UNDEFINED)
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new_data = true;
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}
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// assert that no new data from this report has been received
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TEST_ASSERT_NOT_EQUAL(true, new_data);
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sprintf(msg_buff, "Disabled Report No Rx Data Trial %d Success", (i + 1));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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}
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable ARVR Stabilized Rotation Vector", "[ReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable ARVR Stabilized Rotation Vector";
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BNO08x* imu = nullptr;
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imu_report_data_t report_data;
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bool new_data = false;
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char msg_buff[200] = {};
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
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/*enable respective report to test and ensure it reports new data */
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imu->enable_ARVR_stabilized_rotation_vector(100000UL);
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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new_data = false;
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if (imu->data_available())
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{
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update_report_data(&report_data, imu);
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// check if any default values have been overwritten, implying new data from respective report
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if (report_data.quat_I != 0.0f)
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new_data = true;
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if (report_data.quat_J != 0.0f)
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new_data = true;
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if (report_data.quat_K != 0.0f)
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new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_real != 1.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
// if the accuracy still contains its default value, something has gone wrong, a defined accuracy should be received with every report
|
|
|
|
|
if (report_data.quat_accuracy == IMUAccuracy::UNDEFINED)
|
|
|
|
|
new_data = false;
|
|
|
|
|
|
|
|
|
|
if (report_data.raw_quat_radian_accuracy == IMUAccuracy::UNDEFINED)
|
|
|
|
|
new_data = false;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// assert whether new data was received or not
|
|
|
|
|
TEST_ASSERT_EQUAL(true, new_data);
|
|
|
|
|
|
|
|
|
|
sprintf(msg_buff, "Enabled Report Rx Data Trial %d Success: I: %.2lf J: %.2lf K: %.2lf real: %.2lf", (i + 1), report_data.quat_I,
|
|
|
|
|
report_data.quat_J, report_data.quat_K, report_data.quat_real);
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
|
|
|
|
|
|
|
|
// reset all data used in report test
|
|
|
|
|
imu->reset_all_data();
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
|
|
|
|
|
/*disable respective report to test and ensure it stops reporting new data */
|
|
|
|
|
imu->disable_ARVR_stabilized_rotation_vector();
|
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
|
|
|
{
|
|
|
|
|
new_data = false;
|
|
|
|
|
|
|
|
|
|
if (imu->data_available())
|
|
|
|
|
{
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
|
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
|
|
|
if (report_data.quat_I != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_J != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_K != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_real != 1.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
// if the accuracy does not contain its default value, something has gone wrong, respective report should be disabled
|
|
|
|
|
if (report_data.quat_accuracy != IMUAccuracy::UNDEFINED)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.raw_quat_radian_accuracy != IMUAccuracy::UNDEFINED)
|
|
|
|
|
new_data = true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// assert that no new data from this report has been received
|
|
|
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data);
|
|
|
|
|
|
|
|
|
|
sprintf(msg_buff, "Disabled Report No Rx Data Trial %d Success", (i + 1));
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
|
|
|
|
|
|
|
|
// reset all data used in report test
|
|
|
|
|
imu->reset_all_data();
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
TEST_CASE("Enable/Disable ARVR Stabilized Game Rotation Vector", "[ReportEnableDisable]")
|
|
|
|
|
{
|
|
|
|
|
const constexpr char* TEST_TAG = "Enable/Disable ARVR Stabilized Game Rotation Vector";
|
|
|
|
|
BNO08x* imu = nullptr;
|
|
|
|
|
imu_report_data_t report_data;
|
|
|
|
|
bool new_data = false;
|
|
|
|
|
char msg_buff[200] = {};
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
|
|
|
|
|
|
|
|
|
imu = BNO08xTestHelper::get_test_imu();
|
|
|
|
|
|
|
|
|
|
// reset all data used in report test
|
|
|
|
|
imu->reset_all_data();
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
|
|
|
|
|
/*enable respective report to test and ensure it reports new data */
|
|
|
|
|
imu->enable_ARVR_stabilized_game_rotation_vector(100000UL);
|
|
|
|
|
|
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
|
|
|
{
|
|
|
|
|
new_data = false;
|
|
|
|
|
|
|
|
|
|
if (imu->data_available())
|
|
|
|
|
{
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
|
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
|
|
|
if (report_data.quat_I != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_J != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_K != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_real != 1.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
// if the accuracy still contains its default value, something has gone wrong, a defined accuracy should be received with every report
|
|
|
|
|
if (report_data.quat_accuracy == IMUAccuracy::UNDEFINED)
|
|
|
|
|
new_data = false;
|
|
|
|
|
|
|
|
|
|
if (report_data.raw_quat_radian_accuracy == IMUAccuracy::UNDEFINED)
|
|
|
|
|
new_data = false;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// assert whether new data was received or not
|
|
|
|
|
TEST_ASSERT_EQUAL(true, new_data);
|
|
|
|
|
|
|
|
|
|
sprintf(msg_buff, "Enabled Report Rx Data Trial %d Success: I: %.2lf J: %.2lf K: %.2lf real: %.2lf", (i + 1), report_data.quat_I,
|
|
|
|
|
report_data.quat_J, report_data.quat_K, report_data.quat_real);
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
|
|
|
|
|
|
|
|
// reset all data used in report test
|
|
|
|
|
imu->reset_all_data();
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
|
|
|
|
|
/*disable respective report to test and ensure it stops reporting new data */
|
|
|
|
|
imu->disable_ARVR_stabilized_game_rotation_vector();
|
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
|
|
|
{
|
|
|
|
|
new_data = false;
|
|
|
|
|
|
|
|
|
|
if (imu->data_available())
|
2024-11-15 01:48:02 +00:00
|
|
|
{
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
|
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
|
|
|
if (report_data.quat_I != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_J != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_K != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_real != 1.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
// if the accuracy does not contain its default value, something has gone wrong, respective report should be disabled
|
|
|
|
|
if (report_data.quat_accuracy != IMUAccuracy::UNDEFINED)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.raw_quat_radian_accuracy != IMUAccuracy::UNDEFINED)
|
|
|
|
|
new_data = true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// assert that no new data from this report has been received
|
|
|
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data);
|
|
|
|
|
|
|
|
|
|
sprintf(msg_buff, "Disabled Report No Rx Data Trial %d Success", (i + 1));
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
|
|
|
|
|
|
|
|
// reset all data used in report test
|
|
|
|
|
imu->reset_all_data();
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
|
|
|
|
|
|
2024-11-16 06:24:11 +00:00
|
|
|
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
TEST_CASE("Enable/Disable Gyro Integrated Roation Vector", "[ReportEnableDisable]")
|
|
|
|
|
{
|
|
|
|
|
const constexpr char* TEST_TAG = "Enable/Disable Gyro Integrated Roation Vector";
|
|
|
|
|
BNO08x* imu = nullptr;
|
|
|
|
|
imu_report_data_t report_data;
|
|
|
|
|
bool new_data = false;
|
|
|
|
|
char msg_buff[200] = {};
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
|
|
|
|
|
|
|
|
|
imu = BNO08xTestHelper::get_test_imu();
|
|
|
|
|
|
|
|
|
|
// reset all data used in report test
|
|
|
|
|
imu->reset_all_data();
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
|
|
|
|
|
/*enable respective report to test and ensure it reports new data */
|
|
|
|
|
imu->enable_gyro_integrated_rotation_vector(100000UL);
|
|
|
|
|
|
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
|
|
|
{
|
|
|
|
|
new_data = false;
|
|
|
|
|
|
|
|
|
|
if (imu->data_available())
|
|
|
|
|
{
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
|
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
|
|
|
if (report_data.quat_I != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_J != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_K != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_real != 1.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.gyro_vel_x != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.gyro_vel_y != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.gyro_vel_z != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// assert whether new data was received or not
|
|
|
|
|
TEST_ASSERT_EQUAL(true, new_data);
|
|
|
|
|
|
|
|
|
|
sprintf(msg_buff,
|
|
|
|
|
"Enabled Report Rx Data Trial %d Success: I: %.2lf J: %.2lf K: %.2lf real: %.2lf gyro vel X: %.2lf gyro vel Y: %.2lf gyro vel Z: "
|
|
|
|
|
"%.2lf ",
|
|
|
|
|
(i + 1), report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real, report_data.gyro_vel_x,
|
|
|
|
|
report_data.gyro_vel_y, report_data.gyro_vel_z);
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
|
|
|
|
|
|
|
|
// reset all data used in report test
|
|
|
|
|
imu->reset_all_data();
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
|
|
|
|
|
/*disable respective report to test and ensure it stops reporting new data */
|
|
|
|
|
imu->disable_gyro_integrated_rotation_vector();
|
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
|
|
|
{
|
|
|
|
|
new_data = false;
|
|
|
|
|
|
|
|
|
|
if (imu->data_available())
|
|
|
|
|
{
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
|
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
|
|
|
if (report_data.quat_I != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_J != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_K != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.quat_real != 1.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.gyro_vel_x != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.gyro_vel_y != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
|
|
|
|
|
if (report_data.gyro_vel_z != 0.0f)
|
|
|
|
|
new_data = true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// assert that no new data from this report has been received
|
|
|
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data);
|
|
|
|
|
|
|
|
|
|
sprintf(msg_buff, "Disabled Report No Rx Data Trial %d Success", (i + 1));
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
|
|
|
|
|
|
|
|
// reset all data used in report test
|
|
|
|
|
imu->reset_all_data();
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
TEST_CASE("Enable/Disable Accelerometer", "[ReportEnableDisable]")
|
|
|
|
|
{
|
|
|
|
|
const constexpr char* TEST_TAG = "Enable/Disable Accelerometer";
|
|
|
|
|
BNO08x* imu = nullptr;
|
|
|
|
|
imu_report_data_t report_data;
|
|
|
|
|
bool new_data = false;
|
|
|
|
|
char msg_buff[200] = {};
|
|
|
|
|
|
|
|
|
|
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
|
|
|
|
|
|
|
|
|
imu = BNO08xTestHelper::get_test_imu();
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
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/*enable respective report to test and ensure it reports new data */
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imu->enable_accelerometer(100000UL);
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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new_data = false;
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if (imu->data_available())
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{
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update_report_data(&report_data, imu);
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// check if any default values have been overwritten, implying new data from respective report
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if (report_data.accel_x != 0.0f)
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new_data = true;
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if (report_data.accel_y != 0.0f)
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new_data = true;
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if (report_data.accel_z != 0.0f)
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new_data = true;
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// if the accuracy still contains its default value, something has gone wrong, a defined accuracy should be received with every report
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if (report_data.accel_accuracy == IMUAccuracy::UNDEFINED)
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new_data = false;
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}
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// assert whether new data was received or not
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TEST_ASSERT_EQUAL(true, new_data);
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sprintf(msg_buff,
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"Enabled Report Rx Data Trial %d Success: accel X: %.2lf accel Y: %.2lf accel Z: "
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"%.2lf ",
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(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z);
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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}
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
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/*disable respective report to test and ensure it stops reporting new data */
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imu->disable_accelerometer();
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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new_data = false;
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if (imu->data_available())
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{
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update_report_data(&report_data, imu);
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// check if any default values have been overwritten, implying new data from respective report
|
|
|
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if (report_data.accel_x != 0.0f)
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new_data = true;
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if (report_data.accel_y != 0.0f)
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new_data = true;
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if (report_data.accel_z != 0.0f)
|
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new_data = true;
|
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// if the accuracy does not contain its default value, something has gone wrong, respective report should be disabled
|
|
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|
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if (report_data.accel_accuracy != IMUAccuracy::UNDEFINED)
|
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|
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new_data = true;
|
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}
|
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// assert that no new data from this report has been received
|
|
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|
|
TEST_ASSERT_NOT_EQUAL(true, new_data);
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sprintf(msg_buff, "Disabled Report No Rx Data Trial %d Success", (i + 1));
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|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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|
|
// reset all data used in report test
|
|
|
|
|
imu->reset_all_data();
|
|
|
|
|
update_report_data(&report_data, imu);
|
|
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|
|
}
|
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|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
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|
2024-11-15 01:48:02 +00:00
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|
|
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
|
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|
|
}
|
