Report tests
This commit is contained in:
myles-parfeniuk
parent
2112d19903
commit
0f4e13f3a9
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@ -40,7 +40,8 @@ enum class IMUAccuracy
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{
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LOW = 1,
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MED,
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HIGH
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HIGH,
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UNDEFINED
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};
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/// @brief Reason for previous IMU reset (returned by get_reset_reason())
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@ -171,9 +172,11 @@ class BNO08x
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void save_tare();
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void clear_tare();
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bool data_available();
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bool data_available(bool ignore_no_reports_enabled = false);
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void register_cb(std::function<void()> cb_fxn);
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void reset_all_data();
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uint32_t get_time_stamp();
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void get_magf(float& x, float& y, float& z, uint8_t& accuracy);
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@ -201,6 +204,7 @@ class BNO08x
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float get_quat_J();
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float get_quat_K();
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float get_quat_real();
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uint8_t get_raw_quat_radian_accuracy();
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float get_quat_radian_accuracy();
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uint8_t get_quat_accuracy();
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@ -469,9 +473,12 @@ class BNO08x
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200UL /
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portTICK_PERIOD_MS; ///<How long RST pin is held low during hard reset (min 10ns according to datasheet, but should be longer for stable operation)
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static const constexpr TickType_t CMD_EXECUTION_DELAY_MS = 10UL / portTICK_PERIOD_MS; ///<How long to delay after queueing command to allow it to execute (for ex. after sending command to enable report).
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static const constexpr TickType_t CMD_EXECUTION_DELAY_MS =
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10UL /
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portTICK_PERIOD_MS; ///<How long to delay after queueing command to allow it to execute (for ex. after sending command to enable report).
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static const constexpr TickType_t FLUSH_PKT_DELAY_MS = 20UL / portTICK_PERIOD_MS; ///<How long to delay between wait_for_rx_done() calls when flush_rx_packets() is called.
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static const constexpr TickType_t FLUSH_PKT_DELAY_MS =
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20UL / portTICK_PERIOD_MS; ///<How long to delay between wait_for_rx_done() calls when flush_rx_packets() is called.
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static const constexpr uint32_t SCLK_MAX_SPEED = 3000000UL; ///<Max SPI SCLK speed BNO08x is capable of
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@ -576,5 +583,5 @@ class BNO08x
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static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
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friend class BNO08xTestHelper; //allow test helper to access private members for unit tests
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friend class BNO08xTestHelper; // allow test helper to access private members for unit tests
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};
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@ -18,7 +18,7 @@ class BNO08xTestSuite
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printf("####################### BEGIN TESTS: %s #######################\n\r", test_set_name);
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}
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static void print_end_tests_banner(const char *test_set_name)
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static void print_end_tests_banner(const char* test_set_name)
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{
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printf("####################### END TESTS: %s #######################\n\r", test_set_name);
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}
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@ -27,6 +27,7 @@ class BNO08xTestSuite
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static void run_all_tests()
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{
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run_init_deinit_tests();
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run_report_tests();
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}
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static void run_init_deinit_tests()
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@ -35,9 +36,20 @@ class BNO08xTestSuite
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UNITY_BEGIN();
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unity_run_tests_by_tag("[Init]", false);
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unity_run_tests_by_tag("[FullInitDenit]", false);
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unity_run_tests_by_tag("[InitDenit]", false);
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UNITY_END();
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print_end_tests_banner("init_denit_tests");
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}
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static void run_report_tests()
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{
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print_begin_tests_banner("report_tests");
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UNITY_BEGIN();
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unity_run_tests_by_tag("[ReportEnableDisable]", false);
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UNITY_END();
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print_end_tests_banner("report_tests");
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}
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};
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@ -132,6 +132,8 @@ esp_err_t BNO08x::init_config_args()
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return ESP_ERR_INVALID_ARG;
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}
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reset_all_data(); // reset data members that are returned by public getter APIs (for ex. get_roll_deg())
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// SPI bus config
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bus_config.mosi_io_num = imu_config.io_mosi; // assign mosi gpio pin
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bus_config.miso_io_num = imu_config.io_miso; // assign miso gpio pin
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@ -1043,13 +1045,13 @@ bool BNO08x::run_full_calibration_routine()
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float magf_x = 0;
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float magf_y = 0;
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float magf_z = 0;
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uint8_t magnetometer_accuracy = (uint8_t) IMUAccuracy::LOW;
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uint8_t magnetometer_accuracy = static_cast<uint8_t>(IMUAccuracy::LOW);
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float quat_I = 0;
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float quat_J = 0;
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float quat_K = 0;
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float quat_real = 0;
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uint8_t quat_accuracy = (uint8_t) IMUAccuracy::LOW;
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uint8_t quat_accuracy = static_cast<uint8_t>(IMUAccuracy::LOW);
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uint16_t high_accuracy = 0;
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uint16_t save_calibration_attempt = 0;
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@ -1084,7 +1086,7 @@ bool BNO08x::run_full_calibration_routine()
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vTaskDelay(5 / portTICK_PERIOD_MS);
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if ((magnetometer_accuracy >= (uint8_t) IMUAccuracy::MED) && (quat_accuracy == (uint8_t) IMUAccuracy::HIGH))
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if ((magnetometer_accuracy >= static_cast<uint8_t>(IMUAccuracy::MED)) && (quat_accuracy == static_cast<uint8_t>(IMUAccuracy::HIGH)))
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high_accuracy++;
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else
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high_accuracy = 0;
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@ -1130,10 +1132,12 @@ bool BNO08x::run_full_calibration_routine()
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/**
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* @brief Checks if BNO08x has asserted interrupt and sent data.
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*
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* @param ignore_no_reports_enabled Forces a wait for data even if no reports are enabled (default is false), used for unit tests.
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* @return true if new data has been parsed and saved
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*/
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bool BNO08x::data_available()
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bool BNO08x::data_available(bool ignore_no_reports_enabled)
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{
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if (!ignore_no_reports_enabled)
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if (xEventGroupGetBits(evt_grp_report_en) == 0)
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{
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ESP_LOGE(TAG, "No reports enabled.");
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@ -1916,13 +1920,84 @@ float BNO08x::q_to_float(int16_t fixed_point_value, uint8_t q_point)
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/**
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* @brief Return timestamp of most recent report.
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*
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* @return void, nothing to return
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* @return uint32_t containing the timestamp of the most recent report in microseconds.
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*/
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uint32_t BNO08x::get_time_stamp()
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{
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return time_stamp;
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}
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/**
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* @brief Resets all data returned by public getter APIs to initial values of 0 and low accuracy.
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*
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* @return void, nothing to return
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*/
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void BNO08x::reset_all_data()
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{
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time_stamp = 0UL;
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raw_accel_X = 0U;
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raw_accel_Y = 0U;
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raw_accel_Z = 0U;
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accel_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
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raw_lin_accel_X = 0U;
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raw_lin_accel_Y = 0U;
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raw_lin_accel_Z = 0U;
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accel_lin_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
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raw_gyro_X = 0U;
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raw_gyro_Y = 0U;
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raw_gyro_Z = 0U;
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gyro_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
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raw_quat_I = 0U;
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raw_quat_J = 0U;
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raw_quat_K = 0U;
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raw_quat_real = 1U;
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raw_quat_radian_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
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quat_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
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raw_velocity_gyro_X = 0U;
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raw_velocity_gyro_Y = 0U;
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raw_velocity_gyro_Z = 0U;
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gravity_X = 0U;
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gravity_Y = 0U;
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gravity_Z = 0U;
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gravity_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
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raw_uncalib_gyro_X = 0U;
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raw_uncalib_gyro_Y = 0U;
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raw_uncalib_gyro_Z = 0U;
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raw_bias_X = 0U;
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raw_bias_Y = 0U;
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raw_bias_Z = 0U;
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uncalib_gyro_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
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raw_magf_X = 0U;
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raw_magf_Y = 0U;
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raw_magf_Z = 0U;
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magf_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
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tap_detector = 0U;
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step_count = 0U;
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stability_classifier = 0U;
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activity_classifier = 0U;
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mems_raw_accel_X = 0U;
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mems_raw_accel_Y = 0U;
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mems_raw_accel_Z = 0U;
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mems_raw_gyro_X = 0U;
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mems_raw_gyro_Y = 0U;
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mems_raw_gyro_Z = 0U;
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mems_raw_magf_X = 0U;
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mems_raw_magf_Y = 0U;
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mems_raw_magf_Z = 0U;
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}
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/**
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* @brief Get the full magnetic field vector.
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*
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@ -2221,6 +2296,16 @@ float BNO08x::get_quat_real()
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return quat;
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}
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/**
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* @brief Get the raw radian accuracy of reported quaternion before it is converted to float.
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*
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* @return The raw radian accuracy of reported quaternion.
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*/
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uint8_t BNO08x::get_raw_quat_radian_accuracy()
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{
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return raw_quat_radian_accuracy;
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}
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/**
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* @brief Get radian accuracy of reported quaternion.
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*
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@ -3193,7 +3278,7 @@ esp_err_t BNO08x::kill_all_tasks()
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bno08x_rx_packet_t dummy_packet;
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sem_kill_tasks = xSemaphoreCreateCounting(init_status.task_count, 0);
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memset(&dummy_packet, 0, sizeof(dummy_packet));
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memset(&dummy_packet, 0, sizeof(bno08x_rx_packet_t));
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xEventGroupClearBits(
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evt_grp_task_flow, EVT_GRP_TSK_FLW_RUNNING_BIT); // clear task running bit in task flow event group to request deletion of tasks
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@ -94,9 +94,9 @@ TEST_CASE("Finish Init", "[Init]")
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Full Init & Deinit", "[FullInitDenit]")
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TEST_CASE("Init & Deinit", "[InitDenit]")
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{
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const constexpr char* TEST_TAG = "Full Init & Deinit";
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const constexpr char* TEST_TAG = "Init & Deinit";
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BNO08x* imu = nullptr;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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@ -1,2 +1,256 @@
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#include "unity.h"
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#include "../include/BNO08xTestHelper.hpp"
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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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} 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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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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}
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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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if (imu->data_available(true))
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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);
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
|
||||
/*enable respective report to test and ensure it reports new data */
|
||||
imu->enable_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_game_rotation_vector();
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
new_data = false;
|
||||
|
||||
// use "true" argument to force wait for data even if no reports are enabled
|
||||
if (imu->data_available(true))
|
||||
{
|
||||
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);
|
||||
}
|
||||
Loading…
Reference in New Issue