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deconstructor bugfix and delete dcd test 

Signed-off-by: myles-parfeniuk <myles.parfenyuk@gmail.com>
This commit is contained in:
myles-parfeniuk 2025-06-06 20:47:52 -07:00
parent 884df6aba0
commit b8e3e6392c
3 changed files with 71 additions and 38 deletions
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5
include/BNO08xTestHelper.hpp
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@ -16,6 +16,7 @@
class BNO08xTestHelper class BNO08xTestHelper
{ {
private: private:
static inline uint8_t test_imu_buffer[sizeof(BNO08x)];
inline static BNO08x* test_imu = nullptr; inline static BNO08x* test_imu = nullptr;
inline static bno08x_config_t imu_cfg; inline static bno08x_config_t imu_cfg;
@ -81,7 +82,7 @@ class BNO08xTestHelper
if (test_imu != nullptr) if (test_imu != nullptr)
destroy_test_imu(); destroy_test_imu();
test_imu = new BNO08x(); test_imu = new (&test_imu_buffer) BNO08x();
} }
/** /**
@ -93,7 +94,7 @@ class BNO08xTestHelper
{ {
if (test_imu != nullptr) if (test_imu != nullptr)
{ {
delete test_imu; test_imu->~BNO08x();
test_imu = nullptr; test_imu = nullptr;
} }
} }

2
source/BNO08x.cpp
View File

@ -1016,7 +1016,7 @@ esp_err_t BNO08x::deinit_tasks()
xQueueSend(queue_rx_sensor_event, &empty_event, 0); xQueueSend(queue_rx_sensor_event, &empty_event, 0);
if (init_status.sh2_HAL_service_task) if (init_status.sh2_HAL_service_task)
xEventGroupSetBits(sync_ctx.evt_grp_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT); xEventGroupSetBits(sync_ctx.evt_grp_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT | EVT_GRP_BNO08x_TASK_RESET_OCCURRED);
for (uint8_t i = 0; i < init_count; i++) for (uint8_t i = 0; i < init_count; i++)
if (xSemaphoreTake(sem_kill_tasks, TASK_DELETE_TIMEOUT_MS) == pdTRUE) if (xSemaphoreTake(sem_kill_tasks, TASK_DELETE_TIMEOUT_MS) == pdTRUE)

102
test/FeatureTests.cpp
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@ -277,31 +277,32 @@ TEST_CASE("Get Sample Counts", "[FeatureTests]")
TEST_CASE("Enable Dynamic Calibration", "[FeatureTests]") TEST_CASE("Enable Dynamic Calibration", "[FeatureTests]")
{ {
const constexpr char* TEST_TAG = "Enable Dynamic Calibration"; const constexpr char* TEST_TAG = "Enable Dynamic Calibration";
static const constexpr uint32_t REPORT_PERIOD = 10000UL; // 10ms
static const constexpr uint8_t ENABLED_REPORT_COUNT = 1; static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5; static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
BNO08x* imu = nullptr; BNO08x* imu = nullptr;
char msg_buff[200] = {}; char msg_buff[200] = {};
bno08x_accel_t data_accel; bno08x_quat_t quat_data;
bno08x_sample_counts_t sample_counts;
BNO08xTestHelper::print_test_start_banner(TEST_TAG); BNO08xTestHelper::print_test_start_banner(TEST_TAG);
imu = BNO08xTestHelper::get_test_imu(); imu = BNO08xTestHelper::get_test_imu();
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.enable(REPORT_PERIOD)); TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.enable(REPORT_PERIOD));
TEST_ASSERT_EQUAL(true, imu->dynamic_calibration_enable(BNO08xCalSel::all)); TEST_ASSERT_EQUAL(true, imu->dynamic_calibration_enable(BNO08xCalSel::all));
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{ {
TEST_ASSERT_EQUAL(true, imu->data_available()); TEST_ASSERT_EQUAL(true, imu->data_available());
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.has_new_data());
data_accel = imu->rpt.accelerometer.get(); quat_data = imu->rpt.rv_game.get_quat();
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, sprintf(msg_buff, "Rx Data Trial %d Success: quat_data: i: %.3f j: %.3f k: %.3f real: %.3f Accuracy: %s", (i + 1),
data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); quat_data.i, quat_data.j, quat_data.k, quat_data.real, BNO08xAccuracy_to_str(quat_data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
} }
TEST_CASE("Save Dynamic Calibration", "[FeatureTests]") TEST_CASE("Save Dynamic Calibration", "[FeatureTests]")
@ -312,8 +313,7 @@ TEST_CASE("Save Dynamic Calibration", "[FeatureTests]")
BNO08x* imu = nullptr; BNO08x* imu = nullptr;
char msg_buff[200] = {}; char msg_buff[200] = {};
bno08x_accel_t data_accel; bno08x_quat_t quat_data;
bno08x_sample_counts_t sample_counts;
BNO08xTestHelper::print_test_start_banner(TEST_TAG); BNO08xTestHelper::print_test_start_banner(TEST_TAG);
@ -324,12 +324,14 @@ TEST_CASE("Save Dynamic Calibration", "[FeatureTests]")
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{ {
TEST_ASSERT_EQUAL(true, imu->data_available()); TEST_ASSERT_EQUAL(true, imu->data_available());
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.has_new_data());
data_accel = imu->rpt.accelerometer.get(); quat_data = imu->rpt.rv_game.get_quat();
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, sprintf(msg_buff, "Rx Data Trial %d Success: quat_data: i: %.3f j: %.3f k: %.3f real: %.3f Accuracy: %s", (i + 1),
data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); quat_data.i, quat_data.j, quat_data.k, quat_data.real, BNO08xAccuracy_to_str(quat_data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
} }
TEST_CASE("Autosave Dynamic Calibration", "[FeatureTests]") TEST_CASE("Autosave Dynamic Calibration", "[FeatureTests]")
@ -340,8 +342,7 @@ TEST_CASE("Autosave Dynamic Calibration", "[FeatureTests]")
BNO08x* imu = nullptr; BNO08x* imu = nullptr;
char msg_buff[200] = {}; char msg_buff[200] = {};
bno08x_accel_t data_accel; bno08x_quat_t quat_data;
bno08x_sample_counts_t sample_counts;
BNO08xTestHelper::print_test_start_banner(TEST_TAG); BNO08xTestHelper::print_test_start_banner(TEST_TAG);
@ -352,14 +353,15 @@ TEST_CASE("Autosave Dynamic Calibration", "[FeatureTests]")
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{ {
TEST_ASSERT_EQUAL(true, imu->data_available()); TEST_ASSERT_EQUAL(true, imu->data_available());
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.has_new_data());
data_accel = imu->rpt.accelerometer.get(); quat_data = imu->rpt.rv_game.get_quat();
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, sprintf(msg_buff, "Rx Data Trial %d Success: quat_data: i: %.3f j: %.3f k: %.3f real: %.3f Accuracy: %s", (i + 1),
data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); quat_data.i, quat_data.j, quat_data.k, quat_data.real, BNO08xAccuracy_to_str(quat_data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
TEST_ASSERT_EQUAL(true, imu->dynamic_calibration_autosave_disable()); TEST_ASSERT_EQUAL(true, imu->dynamic_calibration_autosave_disable());
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
} }
TEST_CASE("Disable Dynamic Calibration", "[FeatureTests]") TEST_CASE("Disable Dynamic Calibration", "[FeatureTests]")
@ -370,8 +372,7 @@ TEST_CASE("Disable Dynamic Calibration", "[FeatureTests]")
BNO08x* imu = nullptr; BNO08x* imu = nullptr;
char msg_buff[200] = {}; char msg_buff[200] = {};
bno08x_accel_t data_accel; bno08x_quat_t quat_data;
bno08x_sample_counts_t sample_counts;
BNO08xTestHelper::print_test_start_banner(TEST_TAG); BNO08xTestHelper::print_test_start_banner(TEST_TAG);
@ -382,24 +383,25 @@ TEST_CASE("Disable Dynamic Calibration", "[FeatureTests]")
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{ {
TEST_ASSERT_EQUAL(true, imu->data_available()); TEST_ASSERT_EQUAL(true, imu->data_available());
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.has_new_data());
data_accel = imu->rpt.accelerometer.get(); quat_data = imu->rpt.rv_game.get_quat();
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, sprintf(msg_buff, "Rx Data Trial %d Success: quat_data: i: %.3f j: %.3f k: %.3f real: %.3f Accuracy: %s", (i + 1),
data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); quat_data.i, quat_data.j, quat_data.k, quat_data.real, BNO08xAccuracy_to_str(quat_data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
} }
TEST_CASE("Clear Dynamic Calibration", "[FeatureTests]") TEST_CASE("Clear Dynamic Calibration Data Ram", "[FeatureTests]")
{ {
const constexpr char* TEST_TAG = "Clear Dynamic Calibration"; const constexpr char* TEST_TAG = "Clear Dynamic Calibration Data Ram";
static const constexpr uint8_t ENABLED_REPORT_COUNT = 1; static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5; static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
BNO08x* imu = nullptr; BNO08x* imu = nullptr;
char msg_buff[200] = {}; char msg_buff[200] = {};
bno08x_accel_t data_accel; bno08x_quat_t quat_data;
bno08x_sample_counts_t sample_counts;
BNO08xTestHelper::print_test_start_banner(TEST_TAG); BNO08xTestHelper::print_test_start_banner(TEST_TAG);
@ -410,14 +412,44 @@ TEST_CASE("Clear Dynamic Calibration", "[FeatureTests]")
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{ {
TEST_ASSERT_EQUAL(true, imu->data_available()); TEST_ASSERT_EQUAL(true, imu->data_available());
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.has_new_data());
data_accel = imu->rpt.accelerometer.get(); quat_data = imu->rpt.rv_game.get_quat();
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, sprintf(msg_buff, "Rx Data Trial %d Success: quat_data: i: %.3f j: %.3f k: %.3f real: %.3f Accuracy: %s", (i + 1),
data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy)); quat_data.i, quat_data.j, quat_data.k, quat_data.real, BNO08xAccuracy_to_str(quat_data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
TEST_ASSERT_EQUAL(true, imu->disable_all_reports()); BNO08xTestHelper::print_test_end_banner(TEST_TAG);
}
TEST_CASE("Delete Dynamic Calibration Data", "[FeatureTests]")
{
const constexpr char* TEST_TAG = "Delete Dynamic Calibration Data";
BNO08x* imu = nullptr;
static char msg_buff[200] = {0};
static uint32_t frs_data[16] = {0};
uint16_t words_rxd = 0U;
bno08x_accel_t data_accel;
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
imu = BNO08xTestHelper::get_test_imu();
// 1. read the DCD data from FRS before we delete it and ensure it is non-0 (should be set by previous test)
TEST_ASSERT_EQUAL(true, imu->get_frs(BNO08xFrsID::DYNAMIC_CALIBRATION, frs_data, words_rxd));
sprintf(msg_buff, "DCD before delete: %ld", frs_data[0]);
TEST_ASSERT_EQUAL(true, (frs_data[0] != 0));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// 2. run FlyteSailing's delete DCD fxn and ensure DCD is now 0
TEST_ASSERT_EQUAL(true, imu->dynamic_calibration_data_delete());
TEST_ASSERT_EQUAL(true, imu->get_frs(BNO08xFrsID::DYNAMIC_CALIBRATION, frs_data, words_rxd));
sprintf(msg_buff, "DCD after delete: %ld", frs_data[0]);
TEST_ASSERT_EQUAL(true, (frs_data[0] == 0));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
} }
TEST_CASE("BNO08x Driver Cleanup for [FeatureTests] Tests", "[FeatureTests]") TEST_CASE("BNO08x Driver Cleanup for [FeatureTests] Tests", "[FeatureTests]")