InitDeinit tests

include/BNO08x.hpp

@@ -575,4 +575,6 @@ class BNO08x
         static const constexpr uint8_t TARE_SET_REORIENTATION = 2U; ///< See SH2 Ref. Manual 6.4.4.3
 
         static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
+
+        friend class BNO08xTestHelper; //allow test helper to access private members for unit tests
 };

include/BNO08xTestHelper.hpp

@@ -53,4 +53,44 @@ class BNO08xTestHelper
         {
             return test_imu;
         }
+
+        static esp_err_t call_init_config_args()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->init_config_args();
+        }
+
+        static esp_err_t call_init_gpio()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->init_gpio();
+        }
+
+        static esp_err_t call_init_hint_isr()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->init_hint_isr();
+        }
+
+        static esp_err_t call_init_spi()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->init_spi();
+        }
+
+        static esp_err_t call_launch_tasks()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->launch_tasks();
+        }
 };

source/BNO08xTestSuite.cpp

@@ -7,6 +7,10 @@ void BNO08xTestSuite::run_all_tests()
 
 void BNO08xTestSuite::run_init_deinit_tests()
 {
+    UNITY_BEGIN();
+    unity_run_tests_by_tag("[Init]", false);
+    UNITY_END();
+
     UNITY_BEGIN();
     unity_run_test_by_name("Full Init & Deinit");
     UNITY_END();

test/InitDeinitTests.cpp

@@ -1,10 +1,103 @@
 #include "unity.h"
 #include "../include/BNO08xTestHelper.hpp"
 
-TEST_CASE("Full Init & Deinit", "[InitDenit]")
+TEST_CASE("Init Config Args", "[Init]")
+{
+    const constexpr char* TEST_TAG = "Init Config Args";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating test IMU.");
+    BNO08xTestHelper::create_test_imu();
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_config_args());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Init GPIO", "[Init]")
+{
+    const constexpr char* TEST_TAG = "Init GPIO";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_gpio());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Init HINT ISR", "[Init]")
+{
+    const constexpr char* TEST_TAG = "Init HINT_ISR";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_hint_isr());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Init SPI", "[Init]")
+{
+    const constexpr char* TEST_TAG = "Init SPI";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_spi());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Init Tasks", "[Init]")
+{
+    const constexpr char* TEST_TAG = "Init Tasks";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_launch_tasks());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Finish Init", "[Init]")
+{
+    const constexpr char* TEST_TAG = "Finish Init";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    // reset imu
+    TEST_ASSERT_EQUAL(true, imu->hard_reset());
+
+    // check if reason is valid
+    TEST_ASSERT_NOT_EQUAL(IMUResetReason::UNDEFINED, imu->get_reset_reason());
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying test IMU.");
+    BNO08xTestHelper::destroy_test_imu();
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Full Init & Deinit", "[FullInitDenit]")
 {
     const constexpr char* TEST_TAG = "Full Init & Deinit";
-    BNO08x* imu;
+    BNO08x* imu = nullptr;
 
     BNO08xTestHelper::print_test_start_banner(TEST_TAG);