From 884df6aba0c60c8faca652a7dd99642ce19e449a Mon Sep 17 00:00:00 2001 From: myles-parfeniuk Date: Sat, 31 May 2025 13:25:59 -0700 Subject: [PATCH] fix sanity tests --- include/BNO08x.hpp | 4 ++-- source/BNO08x.cpp | 6 +++--- test/CallbackTests.cpp | 34 +++++++++++++++++----------------- test/FeatureTests.cpp | 32 ++++++++++++++++---------------- test/MultiReportTests.cpp | 28 ++++++++++++++-------------- test/SingleReportTests.cpp | 28 ++++++++++++++-------------- 6 files changed, 66 insertions(+), 66 deletions(-) diff --git a/include/BNO08x.hpp b/include/BNO08x.hpp index 04a4a5b..73247d1 100644 --- a/include/BNO08x.hpp +++ b/include/BNO08x.hpp @@ -52,8 +52,8 @@ class BNO08x bool dynamic_calibration_autosave_enable(); bool dynamic_calibration_autosave_disable(); bool dynamic_calibration_save(); - bool dynamic_calibration_clear_data_ram(); - bool dynamic_calibration_delete_data(); + bool dynamic_calibration_data_clear_ram(); + bool dynamic_calibration_data_delete(); bool dynamic_calibration_run_routine(); constexpr static float SQRT2OVER2 = 0.7071067811865476f; // sqrt(2)/2, used for setting system orientation diff --git a/source/BNO08x.cpp b/source/BNO08x.cpp index 6a71568..7f89131 100644 --- a/source/BNO08x.cpp +++ b/source/BNO08x.cpp @@ -1413,7 +1413,7 @@ bool BNO08x::dynamic_calibration_save() * * @return True if save dynamic/ME calibration data succeeded. */ -bool BNO08x::dynamic_calibration_clear_data_ram() +bool BNO08x::dynamic_calibration_data_clear_ram() { int op_success = SH2_ERR; @@ -1686,7 +1686,7 @@ bool BNO08x::dynamic_calibration_run_routine() * Follows the steps outlined in ref. manual 6.4.9 * @return True if delete dynamic calibration data operation succeeded. */ -bool BNO08x::dynamic_calibration_delete_data() +bool BNO08x::dynamic_calibration_data_delete() { // 1. Reset hub (using hard_reset) if (!hard_reset()) { @@ -1702,7 +1702,7 @@ bool BNO08x::dynamic_calibration_delete_data() return false; // 3. Issue Clear DCD and Reset Command (atomic clear DCD from RAM and reset) - if(!dynamic_calibration_clear_data_ram()) + if(!dynamic_calibration_data_clear_ram()) return false; #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS diff --git a/test/CallbackTests.cpp b/test/CallbackTests.cpp index 643aca6..b3980c2 100644 --- a/test/CallbackTests.cpp +++ b/test/CallbackTests.cpp @@ -72,7 +72,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]") sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f " "accuracy: %s ", - (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } else if (imu->rpt.linear_accelerometer.has_new_data()) @@ -82,7 +82,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]") sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: " "%.2f accuracy: %s ", - (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } else if (imu->rpt.gravity.has_new_data()) @@ -92,7 +92,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]") sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: " "%.2f accuracy: %s ", - (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } else if (imu->rpt.cal_gyro.has_new_data()) @@ -102,7 +102,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]") sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: " "%.2f accuracy: %s ", - (i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy)); + (i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08xAccuracy_to_str(data_vel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } else if (imu->rpt.cal_magnetometer.has_new_data()) @@ -112,7 +112,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]") sprintf(msg_buff, "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: " "%.2f z: %.2f accuracy: %s ", - (i + 1), data_magf.x, data_magf.y, data_magf.z, BNO08x::accuracy_to_str(data_magf.accuracy)); + (i + 1), data_magf.x, data_magf.y, data_magf.z, BNO08xAccuracy_to_str(data_magf.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } else if (imu->rpt.rv.has_new_data()) @@ -123,7 +123,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]") "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: " "%.2f accuracy: %s ", (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, - BNO08x::accuracy_to_str(data_quat.accuracy)); + BNO08xAccuracy_to_str(data_quat.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } else if (imu->rpt.rv_game.has_new_data()) @@ -134,7 +134,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]") "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: " "%.2f k: %.2f accuracy: %s ", (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, - BNO08x::accuracy_to_str(data_quat.accuracy)); + BNO08xAccuracy_to_str(data_quat.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } else if (imu->rpt.rv_geomagnetic.has_new_data()) @@ -145,7 +145,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]") "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: " "%.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, - BNO08x::accuracy_to_str(data_quat.accuracy)); + BNO08xAccuracy_to_str(data_quat.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -257,7 +257,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]") "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: " "%.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y, data_accel.z, - BNO08x::accuracy_to_str(data_accel.accuracy)); + BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); break; @@ -268,7 +268,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]") "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f " "z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y, data_accel.z, - BNO08x::accuracy_to_str(data_accel.accuracy)); + BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); break; @@ -279,7 +279,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]") "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: " "%.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y, data_accel.z, - BNO08x::accuracy_to_str(data_accel.accuracy)); + BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); break; @@ -289,7 +289,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]") sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: " "%.2f accuracy: %s ", - (i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy)); + (i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08xAccuracy_to_str(data_vel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); break; @@ -299,7 +299,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]") sprintf(msg_buff, "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f " "y: %.2f z: %.2f accuracy: %s ", - (i + 1), data_magf.x, data_magf.y, data_magf.z, BNO08x::accuracy_to_str(data_magf.accuracy)); + (i + 1), data_magf.x, data_magf.y, data_magf.z, BNO08xAccuracy_to_str(data_magf.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); break; @@ -310,7 +310,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]") "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: " "%.2f k: %.2f accuracy: %s ", (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, - BNO08x::accuracy_to_str(data_quat.accuracy)); + BNO08xAccuracy_to_str(data_quat.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); break; @@ -321,7 +321,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]") "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f " "j: %.2f k: %.2f accuracy: %s ", (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, - BNO08x::accuracy_to_str(data_quat.accuracy)); + BNO08xAccuracy_to_str(data_quat.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); break; @@ -332,7 +332,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]") "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: " "%.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, - BNO08x::accuracy_to_str(data_quat.accuracy)); + BNO08xAccuracy_to_str(data_quat.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); break; @@ -432,7 +432,7 @@ TEST_CASE("Single Report Void Input Param Flavor Cb", "[CallbackSingleReportVoid sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f " "accuracy: %s ", - (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); i++; diff --git a/test/FeatureTests.cpp b/test/FeatureTests.cpp index 2f0fd49..438c1a7 100644 --- a/test/FeatureTests.cpp +++ b/test/FeatureTests.cpp @@ -50,7 +50,7 @@ TEST_CASE("Hard Reset", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -63,7 +63,7 @@ TEST_CASE("Hard Reset", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -95,7 +95,7 @@ TEST_CASE("Soft Reset", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -108,7 +108,7 @@ TEST_CASE("Soft Reset", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -140,7 +140,7 @@ TEST_CASE("Sleep", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -162,7 +162,7 @@ TEST_CASE("Sleep", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -195,7 +195,7 @@ TEST_CASE("Get Metadata", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -215,7 +215,7 @@ TEST_CASE("Get Metadata", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -248,7 +248,7 @@ TEST_CASE("Get Sample Counts", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -265,7 +265,7 @@ TEST_CASE("Get Sample Counts", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -299,7 +299,7 @@ TEST_CASE("Enable Dynamic Calibration", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } @@ -327,7 +327,7 @@ TEST_CASE("Save Dynamic Calibration", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } @@ -355,7 +355,7 @@ TEST_CASE("Autosave Dynamic Calibration", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -385,7 +385,7 @@ TEST_CASE("Disable Dynamic Calibration", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } @@ -405,7 +405,7 @@ TEST_CASE("Clear Dynamic Calibration", "[FeatureTests]") imu = BNO08xTestHelper::get_test_imu(); - TEST_ASSERT_EQUAL(true, imu->dynamic_calibration_clear()); + TEST_ASSERT_EQUAL(true, imu->dynamic_calibration_data_clear_ram()); for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) { @@ -413,7 +413,7 @@ TEST_CASE("Clear Dynamic Calibration", "[FeatureTests]") TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); data_accel = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, - data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } diff --git a/test/MultiReportTests.cpp b/test/MultiReportTests.cpp index a840324..6fb400b 100644 --- a/test/MultiReportTests.cpp +++ b/test/MultiReportTests.cpp @@ -61,7 +61,7 @@ TEST_CASE("Enable/Disable Dual Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "%s ", - (i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); + (i + 1), data.x, data.y, data.z, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -72,7 +72,7 @@ TEST_CASE("Enable/Disable Dual Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "%s ", - (i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); + (i + 1), data.x, data.y, data.z, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } @@ -124,7 +124,7 @@ TEST_CASE("Enable/Disable Quad Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "%s ", - (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -135,7 +135,7 @@ TEST_CASE("Enable/Disable Quad Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "%s ", - (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -146,7 +146,7 @@ TEST_CASE("Enable/Disable Quad Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "%s ", - (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -157,7 +157,7 @@ TEST_CASE("Enable/Disable Quad Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: " "%s ", - (i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy)); + (i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08xAccuracy_to_str(data_vel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } @@ -221,7 +221,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "%s ", - (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -232,7 +232,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "%s ", - (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -243,7 +243,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "%s ", - (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); + (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -254,7 +254,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: " "%s ", - (i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy)); + (i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08xAccuracy_to_str(data_vel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -265,7 +265,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f " "accuracy: %s ", - (i + 1), data_magf.x, data_magf.y, data_magf.z, BNO08x::accuracy_to_str(data_magf.accuracy)); + (i + 1), data_magf.x, data_magf.y, data_magf.z, BNO08xAccuracy_to_str(data_magf.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -276,7 +276,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f " "accuracy: %s ", - (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy)); + (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08xAccuracy_to_str(data_quat.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -287,7 +287,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f " "accuracy: %s ", - (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy)); + (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08xAccuracy_to_str(data_quat.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -298,7 +298,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: " "%.2f accuracy: %s ", - (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy)); + (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08xAccuracy_to_str(data_quat.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } diff --git a/test/SingleReportTests.cpp b/test/SingleReportTests.cpp index 5a45e6e..f2d3f2a 100644 --- a/test/SingleReportTests.cpp +++ b/test/SingleReportTests.cpp @@ -58,7 +58,7 @@ TEST_CASE("Enable Incorrect Report", "[SingleReportEnableDisable]") sprintf(msg_buff, "No Rx Data Trial %d Success: LinAccelDefaults: [m/s^2] x: %.2f y: %.2f z: %.2f " "accuracy: %s ", - (i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); + (i + 1), data.x, data.y, data.z, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -96,7 +96,7 @@ TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]") data = imu->rpt.accelerometer.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, - data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); + data.y, data.z, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -136,7 +136,7 @@ TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: LinearAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "%s ", - (i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); + (i + 1), data.x, data.y, data.z, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -174,7 +174,7 @@ TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]") data = imu->rpt.gravity.get(); sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, - data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); + data.y, data.z, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -214,7 +214,7 @@ TEST_CASE("Enable/Disable Cal Magnetometer", "[SingleReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f " "accuracy: %s ", - (i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); + (i + 1), data.x, data.y, data.z, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -256,7 +256,7 @@ TEST_CASE("Enable/Disable Uncal Magnetometer", "[SingleReportEnableDisable]") "Rx Data Trial %d Success: UncalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f " "x_bias: %.2f y_bias: %.2f z_bias: %.2f accuracy: %s ", (i + 1), data_magf.x, data_magf.y, data_magf.z, data_bias.x, data_bias.y, data_bias.z, - BNO08x::accuracy_to_str(data_magf.accuracy)); + BNO08xAccuracy_to_str(data_magf.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -294,7 +294,7 @@ TEST_CASE("Enable/Disable Cal Gyro", "[SingleReportEnableDisable]") data = imu->rpt.cal_gyro.get(); sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, - data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); + data.y, data.z, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -336,7 +336,7 @@ TEST_CASE("Enable/Disable Uncal Gyro", "[SingleReportEnableDisable]") "Rx Data Trial %d Success: UncalGyro: [rad/s] x: %.2f y: %.2f z: %.2f x_bias: %.2f " "y_bias: %.2f z_bias: %.2f accuracy: %s ", (i + 1), data_vel.x, data_vel.y, data_vel.z, data_bias.x, data_bias.y, data_bias.z, - BNO08x::accuracy_to_str(data_vel.accuracy)); + BNO08xAccuracy_to_str(data_vel.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -376,7 +376,7 @@ TEST_CASE("Enable/Disable RV", "[SingleReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: " "%s ", - (i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy)); + (i + 1), data.real, data.i, data.j, data.k, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -416,7 +416,7 @@ TEST_CASE("Enable/Disable Game RV", "[SingleReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f " "accuracy: %s ", - (i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy)); + (i + 1), data.real, data.i, data.j, data.k, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -456,7 +456,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized RV", "[SingleReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: RV ARVR Stabilized: [n/a] real: %.2f i: %.2f j: %.2f k: " "%.2f accuracy: %s ", - (i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy)); + (i + 1), data.real, data.i, data.j, data.k, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -496,7 +496,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Game RV", "[SingleReportEnableDisable] sprintf(msg_buff, "Rx Data Trial %d Success: RV ARVR Stabilized Game: [n/a] real: %.2f i: %.2f j: " "%.2f k: %.2f accuracy: %s ", - (i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy)); + (i + 1), data.real, data.i, data.j, data.k, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -536,7 +536,7 @@ TEST_CASE("Enable/Disable Gyro Integrated RV", "[SingleReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: RV Gyro Integrated: [n/a] real: %.2f i: %.2f j: %.2f k: " "%.2f accuracy: %s ", - (i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy)); + (i + 1), data.real, data.i, data.j, data.k, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } @@ -576,7 +576,7 @@ TEST_CASE("Enable/Disable Geomagnetic RV", "[SingleReportEnableDisable]") sprintf(msg_buff, "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: " "%.2f accuracy: %s ", - (i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy)); + (i + 1), data.real, data.i, data.j, data.k, BNO08xAccuracy_to_str(data.accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); }