refactoring, unit test stub

CMakeLists.txt

@@ -1,3 +1,3 @@
-idf_component_register(SRCS BNO08x.cpp
+idf_component_register(SRC_DIRS "source" "tests"
-                    INCLUDE_DIRS .
+                    INCLUDE_DIRS "include" "tests"
                     REQUIRES driver esp_timer)

include/BNO08x.hpp

@@ -10,6 +10,7 @@
 #include <freertos/task.h>
 #include <freertos/event_groups.h>
 #include <freertos/queue.h>
+#include <freertos/semphr.h>
 #include <rom/ets_sys.h>
 
 // standard library includes
@@ -88,7 +89,8 @@ typedef struct bno08x_config_t
 class BNO08x
 {
     public:
-        BNO08x(bno08x_config_t imu_config = default_imu_config);
+        BNO08x(bno08x_config_t imu_config = bno08x_config_t());
+        ~BNO08x(); 
         bool initialize();
 
         bool hard_reset();
@@ -327,8 +329,6 @@ class BNO08x
         void print_header(bno08x_rx_packet_t* packet);
         void print_packet(bno08x_rx_packet_t* packet);
 
-        static bno08x_config_t default_imu_config; ///< default imu config settings
-
         EventGroupHandle_t
                 evt_grp_spi; ///<Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions.
         EventGroupHandle_t evt_grp_report_en; ///<Event group for indicating which reports are currently enabled.
@@ -388,6 +388,9 @@ class BNO08x
         static void data_proc_task_trampoline(void* arg);
         void data_proc_task();
 
+        bool kill_tasks; ///<indicates to spi_task and data_proc task that deconstructor wants them to self-delete
+        SemaphoreHandle_t sem_kill_tasks; 
+
         static void IRAM_ATTR hint_handler(void* arg);
         static bool
                 isr_service_installed; ///<true of the isr service has been installed, only has to be done once regardless of how many devices are used
@@ -398,6 +401,8 @@ class BNO08x
         static const constexpr uint64_t HOST_INT_TIMEOUT_MS =
                 300ULL; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)
 
+        static const constexpr uint8_t TASK_CNT = 2; 
+
         // evt_grp_spi bits
         static const constexpr EventBits_t EVT_GRP_SPI_RX_DONE_BIT =
                 (1 << 0); ///<When this bit is set it indicates a receive procedure has completed.

source/BNO08x.cpp

@@ -1,7 +1,6 @@
 #include "BNO08x.hpp"
 
 bool BNO08x::isr_service_installed = {false};
-bno08x_config_t BNO08x::default_imu_config;
 
 /**
  * @brief BNO08x imu constructor.
@@ -21,6 +20,7 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
     , queue_reset_reason(xQueueCreate(1, sizeof(uint32_t)))
     , imu_config(imu_config)
     , calibration_status(1)
+    , kill_tasks(false)
 
 {
     uint8_t tx_buffer[50] = {0};
@@ -103,6 +103,46 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
     spi_device_polling_transmit(spi_hdl, &spi_transaction); // send data packet
 }
 
+
+ BNO08x::~BNO08x()
+ {
+    static const constexpr uint8_t TASK_DELETE_TIMEOUT_MS = 10; 
+    bno08x_rx_packet_t dummy_packet;
+    uint8_t kill_count = 0; 
+
+    //disable interrupts before beginning so we can ensure SPI task doesn't attempt to run
+    gpio_intr_disable(imu_config.io_int);
+
+    //delete tasks
+    kill_tasks = true; 
+    xTaskNotifyGive(spi_task_hdl); //notify spi task for self deletion
+    xQueueSend(queue_rx_data, &dummy_packet, 0); //send a dummy packet to wake up data_proc task for self-deletion
+
+    for(uint8_t i = 0; i < TASK_CNT; i++)
+        if(xSemaphoreTake(sem_kill_tasks, TASK_DELETE_TIMEOUT_MS / portTICK_PERIOD_MS) == pdTRUE)
+            kill_count++; 
+
+    if(kill_count != TASK_CNT)
+    {
+        ESP_LOGE(TAG, "Task deletion timedout in deconstructor call.");
+        ESP_ERROR_CHECK(ESP_ERR_TIMEOUT);
+    }
+
+    //delete queues
+    vQueueDelete(queue_rx_data);
+    vQueueDelete(queue_tx_data);
+    vQueueDelete(queue_frs_read_data);
+    vQueueDelete(queue_reset_reason);
+
+    //delete event groups
+    vEventGroupDelete(evt_grp_spi);
+    vEventGroupDelete(evt_grp_report_en);
+
+    //clear callback list
+    cb_list.clear(); 
+
+ }
+
 /**
  * @brief Initializes BNO08x sensor
  *
@@ -2784,6 +2824,9 @@ void BNO08x::spi_task()
             gpio_intr_enable(imu_config.io_int);
 
         ulTaskNotifyTake(pdTRUE, portMAX_DELAY); // block until notified by ISR (hint_handler)
+        
+        if(kill_tasks)
+            break; 
 
         #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
         current_time = esp_timer_get_time();
@@ -2796,6 +2839,9 @@ void BNO08x::spi_task()
         else
             receive_packet(); // receive packet
     }
+
+    xSemaphoreGive(sem_kill_tasks); //signal to deconstructor deletion is completed
+    vTaskDelete(NULL);
 }
 
 /**
@@ -2825,6 +2871,9 @@ void BNO08x::data_proc_task()
     {
         if (xQueueReceive(queue_rx_data, &packet, portMAX_DELAY)) // receive packet from spi_task()
         {
+            if(kill_tasks)
+                break;
+                
             if (parse_packet(&packet) != 0) // check if packet is valid
             {
                 // execute any registered callbacks
@@ -2837,6 +2886,9 @@ void BNO08x::data_proc_task()
                 xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_RX_INVALID_PACKET); // indicated invalid packet to wait_for_data()
         }
     }
+
+    xSemaphoreGive(sem_kill_tasks); //signal to deconstructor deletion is completed
+    vTaskDelete(NULL);
 }
 
 /**

tests/BNO08xTestHelper.cpp

@@ -0,0 +1 @@
+#include "BNO08xTestHelper.hpp"

tests/BNO08xTestHelper.hpp

@@ -0,0 +1,9 @@
+#pragma once
+
+#include "stdio.h"
+#include "BNO08x.hpp"
+
+class BNO08xTestHelper
+{
+    
+};

tests/BNO08xTestSuite.cpp

@@ -0,0 +1,6 @@
+#include "BNO08xTestSuite.hpp"
+
+void BNO08xTestSuite::run_tests()
+{
+    
+}

tests/BNO08xTestSuite.hpp

@@ -0,0 +1,9 @@
+#pragma once
+
+#include "BNO08xTestHelper.hpp"
+
+class BNO08xTestSuite
+{
+    public:
+        static void run_tests();
+};