More MultiReportTests
This commit is contained in:
myles-parfeniuk
parent
2c6f309a83
commit
6aa1548c2b
|
|
@ -472,7 +472,7 @@ class BNO08xTestHelper
|
|||
*
|
||||
* @return True if new data was received for respective report.
|
||||
*/
|
||||
static bool step_detector_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
||||
static bool step_counter_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
||||
{
|
||||
bool new_data = false;
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,6 @@
|
|||
idf_component_register(SRC_DIRS "."
|
||||
INCLUDE_DIRS "."
|
||||
REQUIRES cmock esp32_BNO08x)
|
||||
REQUIRES cmock esp32_BNO08x)
|
||||
|
||||
# supress unused var warnings from test_imu
|
||||
idf_build_set_property(COMPILE_OPTIONS "-Wno-unused-but-set-variable" APPEND)
|
||||
|
|
@ -22,7 +22,7 @@ TEST_CASE("Dual Report Enable/Disable", "[MultiReportEnableDisable]")
|
|||
BNO08xTestHelper::imu_report_data_t prev_report_data;
|
||||
char msg_buff[200] = {};
|
||||
const constexpr uint8_t ENABLED_REPORT_CNT = 2;
|
||||
const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_CNT + 1;
|
||||
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};
|
||||
|
|
@ -84,7 +84,7 @@ TEST_CASE("Dual Report Enable/Disable", "[MultiReportEnableDisable]")
|
|||
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
|
||||
BNO08xTestHelper::update_report_data(&report_data);
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling only Linear Accelerometer report and checking for new data on both.");
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling only Linear Accelerometer report and checking for new data on both.");
|
||||
imu->disable_linear_accelerometer();
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
|
|
@ -128,10 +128,712 @@ TEST_CASE("Dual Report Enable/Disable", "[MultiReportEnableDisable]")
|
|||
TEST_ASSERT_EQUAL(true, new_data[0]);
|
||||
TEST_ASSERT_NOT_EQUAL(true, new_data[1]);
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling Accelerometer and Linear Accelerometer report");
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling Accelerometer report");
|
||||
imu->disable_accelerometer();
|
||||
}
|
||||
|
||||
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();
|
||||
}
|
||||
|
||||
TEST_CASE("BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests", "[MultiReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests";
|
||||
|
|
|
|||
|
|
@ -1063,7 +1063,7 @@ TEST_CASE("Enable/Disable Step Counter", "[SingleReportEnableDisable]")
|
|||
BNO08xTestHelper::update_report_data(&report_data);
|
||||
|
||||
// check if any default values have been overwritten, implying new data from respective report
|
||||
new_data = BNO08xTestHelper::step_detector_data_is_new(&report_data, &prev_report_data);
|
||||
new_data = BNO08xTestHelper::step_counter_data_is_new(&report_data, &prev_report_data);
|
||||
}
|
||||
|
||||
// assert that new data from respective report has been received
|
||||
|
|
@ -1093,7 +1093,7 @@ TEST_CASE("Enable/Disable Step Counter", "[SingleReportEnableDisable]")
|
|||
BNO08xTestHelper::update_report_data(&report_data);
|
||||
|
||||
// check if any default values have been overwritten, implying new data from respective report
|
||||
new_data = BNO08xTestHelper::step_detector_data_is_new(&report_data, &prev_report_data);
|
||||
new_data = BNO08xTestHelper::step_counter_data_is_new(&report_data, &prev_report_data);
|
||||
}
|
||||
|
||||
// assert that no new data from respective report has been received
|
||||
|
|
|
|||
Loading…
Reference in New Issue