#pragma once #include "stdio.h" #include "BNO08x.hpp" class BNO08xTestHelper { private: inline static BNO08x* test_imu = nullptr; inline static bno08x_config_t imu_cfg; static const constexpr char* TAG = "BNO08xTestHelper"; public: typedef struct imu_report_data_t { uint32_t time_stamp; float quat_I; float quat_J; float quat_K; float quat_real; float quat_radian_accuracy; BNO08xAccuracy quat_accuracy; float integrated_gyro_vel_x; float integrated_gyro_vel_y; float integrated_gyro_vel_z; float accel_x; float accel_y; float accel_z; BNO08xAccuracy accel_accuracy; float lin_accel_x; float lin_accel_y; float lin_accel_z; BNO08xAccuracy lin_accel_accuracy; float grav_x; float grav_y; float grav_z; BNO08xAccuracy grav_accuracy; float calib_gyro_vel_x; float calib_gyro_vel_y; float calib_gyro_vel_z; float uncalib_gyro_vel_x; float uncalib_gyro_vel_y; float uncalib_gyro_vel_z; float uncalib_gyro_drift_x; float uncalib_gyro_drift_y; float uncalib_gyro_drift_z; float magf_x; float magf_y; float magf_z; BNO08xAccuracy magf_accuracy; uint16_t raw_mems_gyro_x; uint16_t raw_mems_gyro_y; uint16_t raw_mems_gyro_z; uint8_t tap_count; } imu_report_data_t; static void print_test_start_banner(const char* TEST_TAG) { printf("------------------------ BEGIN TEST: %s ------------------------\n\r", TEST_TAG); } static void print_test_end_banner(const char* TEST_TAG) { printf("------------------------ END TEST: %s ------------------------\n\r", TEST_TAG); } static void print_test_msg(const char* TEST_TAG, const char* msg) { printf("%s: %s: %s\n\r", TAG, TEST_TAG, msg); } static void set_test_imu_cfg(bno08x_config_t cfg) { imu_cfg = cfg; } static void create_test_imu() { if (test_imu != nullptr) destroy_test_imu(); test_imu = new BNO08x(); } static void destroy_test_imu() { if (test_imu != nullptr) { delete test_imu; test_imu = nullptr; } } static BNO08x* get_test_imu() { 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(); } static bool rotation_vector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data) { bool new_data = false; // prev report should always contain the default test values as per test structure if (report_data->quat_I != prev_report_data->quat_I) new_data = true; if (report_data->quat_J != prev_report_data->quat_J) new_data = true; if (report_data->quat_K != prev_report_data->quat_K) new_data = true; if (report_data->quat_real != prev_report_data->quat_real) new_data = true; if (report_data->quat_accuracy != prev_report_data->quat_accuracy) new_data = true; if (report_data->quat_radian_accuracy != prev_report_data->quat_radian_accuracy) new_data = true; return new_data; } static bool gyro_integrated_rotation_vector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data) { bool new_data = false; if (report_data->quat_I != prev_report_data->quat_I) new_data = true; if (report_data->quat_J != prev_report_data->quat_J) new_data = true; if (report_data->quat_K != prev_report_data->quat_K) new_data = true; if (report_data->quat_real != prev_report_data->quat_real) new_data = true; if (report_data->integrated_gyro_vel_x != prev_report_data->integrated_gyro_vel_x) new_data = true; if (report_data->integrated_gyro_vel_y != prev_report_data->integrated_gyro_vel_y) new_data = true; if (report_data->integrated_gyro_vel_z != prev_report_data->integrated_gyro_vel_z) new_data = true; return new_data; } static bool uncalibrated_gyro_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data) { bool new_data = false; if (report_data->uncalib_gyro_vel_x != prev_report_data->uncalib_gyro_vel_x) new_data = true; if (report_data->uncalib_gyro_vel_y != prev_report_data->uncalib_gyro_vel_y) new_data = true; if (report_data->uncalib_gyro_vel_z != prev_report_data->uncalib_gyro_vel_z) new_data = true; if (report_data->uncalib_gyro_drift_x != prev_report_data->uncalib_gyro_drift_x) new_data = true; if (report_data->uncalib_gyro_drift_y != prev_report_data->uncalib_gyro_drift_y) new_data = true; if (report_data->uncalib_gyro_drift_z != prev_report_data->uncalib_gyro_drift_z) new_data = true; return new_data; } static bool calibrated_gyro_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data) { bool new_data = false; if (report_data->calib_gyro_vel_x != prev_report_data->calib_gyro_vel_x) new_data = true; if (report_data->calib_gyro_vel_y != prev_report_data->calib_gyro_vel_y) new_data = true; if (report_data->calib_gyro_vel_z != prev_report_data->calib_gyro_vel_z) new_data = true; return new_data; } static bool accelerometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data) { bool new_data = false; if (report_data->accel_x != prev_report_data->accel_x) new_data = true; if (report_data->accel_y != prev_report_data->accel_y) new_data = true; if (report_data->accel_z != prev_report_data->accel_z) new_data = true; if (report_data->accel_accuracy != prev_report_data->accel_accuracy) new_data = true; return new_data; } static bool linear_accelerometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data) { bool new_data = false; if (report_data->lin_accel_x != prev_report_data->lin_accel_x) new_data = true; if (report_data->lin_accel_y != prev_report_data->lin_accel_y) new_data = true; if (report_data->lin_accel_z != prev_report_data->lin_accel_z) new_data = true; if (report_data->lin_accel_accuracy != prev_report_data->lin_accel_accuracy) new_data = true; return new_data; } static bool gravity_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data) { bool new_data = false; if (report_data->grav_x != prev_report_data->grav_x) new_data = true; if (report_data->grav_y != prev_report_data->grav_y) new_data = true; if (report_data->grav_z != prev_report_data->grav_z) new_data = true; if (report_data->grav_accuracy != prev_report_data->grav_accuracy) new_data = true; return new_data; } static bool magnetometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data) { bool new_data = false; if (report_data->magf_x != prev_report_data->magf_x) new_data = true; if (report_data->magf_y != prev_report_data->magf_y) new_data = true; if (report_data->magf_z != prev_report_data->magf_z) new_data = true; if (report_data->magf_accuracy != prev_report_data->magf_accuracy) new_data = true; return new_data; } static bool raw_mems_gyro_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data) { bool new_data = false; return new_data; } static bool tap_detector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data) { bool new_data = false; if (report_data->tap_count != prev_report_data->tap_count) new_data = true; return new_data; } static void update_report_data(imu_report_data_t* report_data, BNO08x* imu) { imu->get_quat(report_data->quat_I, report_data->quat_J, report_data->quat_K, report_data->quat_real, report_data->quat_radian_accuracy, report_data->quat_accuracy); imu->get_integrated_gyro_velocity( report_data->integrated_gyro_vel_x, report_data->integrated_gyro_vel_y, report_data->integrated_gyro_vel_z); imu->get_accel(report_data->accel_x, report_data->accel_y, report_data->accel_z, report_data->accel_accuracy); imu->get_linear_accel(report_data->lin_accel_x, report_data->lin_accel_y, report_data->lin_accel_z, report_data->lin_accel_accuracy); imu->get_gravity(report_data->grav_x, report_data->grav_y, report_data->grav_z, report_data->grav_accuracy); imu->get_calibrated_gyro_velocity(report_data->calib_gyro_vel_x, report_data->calib_gyro_vel_y, report_data->calib_gyro_vel_z); imu->get_uncalibrated_gyro_velocity(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); imu->get_magf(report_data->magf_x, report_data->magf_y, report_data->magf_z, report_data->magf_accuracy); imu->get_raw_mems_gyro(report_data->raw_mems_gyro_x, report_data->raw_mems_gyro_y, report_data->raw_mems_gyro_z); report_data->tap_count = imu->get_tap_detector(); } static void reset_all_imu_data_to_test_defaults(BNO08x* imu) { static const constexpr uint16_t TEST_VAL_UINT16 = 65535U; static const constexpr uint16_t TEST_VAL_UINT8 = 255; imu->time_stamp = 0UL; imu->raw_accel_X = TEST_VAL_UINT16; imu->raw_accel_Y = TEST_VAL_UINT16; imu->raw_accel_Z = TEST_VAL_UINT16; imu->accel_accuracy = static_cast(BNO08xAccuracy::UNDEFINED); imu->raw_lin_accel_X = TEST_VAL_UINT16; imu->raw_lin_accel_Y = TEST_VAL_UINT16; imu->raw_lin_accel_Z = TEST_VAL_UINT16; imu->accel_lin_accuracy = static_cast(BNO08xAccuracy::UNDEFINED); imu->raw_calib_gyro_X = TEST_VAL_UINT16; imu->raw_calib_gyro_Y = TEST_VAL_UINT16; imu->raw_calib_gyro_Z = TEST_VAL_UINT16; // reset quaternion to nan imu->raw_quat_I = TEST_VAL_UINT16; imu->raw_quat_J = TEST_VAL_UINT16; imu->raw_quat_K = TEST_VAL_UINT16; imu->raw_quat_real = TEST_VAL_UINT16; imu->raw_quat_radian_accuracy = static_cast(BNO08xAccuracy::UNDEFINED); imu->quat_accuracy = static_cast(BNO08xAccuracy::UNDEFINED); imu->integrated_gyro_velocity_X = TEST_VAL_UINT16; imu->integrated_gyro_velocity_Y = TEST_VAL_UINT16; imu->integrated_gyro_velocity_Z = TEST_VAL_UINT16; imu->gravity_X = TEST_VAL_UINT16; imu->gravity_Y = TEST_VAL_UINT16; imu->gravity_Z = TEST_VAL_UINT16; imu->gravity_accuracy = static_cast(BNO08xAccuracy::UNDEFINED); imu->raw_uncalib_gyro_X = TEST_VAL_UINT16; imu->raw_uncalib_gyro_Y = TEST_VAL_UINT16; imu->raw_uncalib_gyro_Z = TEST_VAL_UINT16; imu->raw_bias_X = TEST_VAL_UINT16; imu->raw_bias_Y = TEST_VAL_UINT16; imu->raw_bias_Z = TEST_VAL_UINT16; imu->raw_magf_X = TEST_VAL_UINT16; imu->raw_magf_Y = TEST_VAL_UINT16; imu->raw_magf_Z = TEST_VAL_UINT16; imu->magf_accuracy = static_cast(BNO08xAccuracy::UNDEFINED); imu->tap_detector = TEST_VAL_UINT8; imu->step_count = TEST_VAL_UINT16; imu->stability_classifier = TEST_VAL_UINT8; imu->activity_classifier = TEST_VAL_UINT8; imu->mems_raw_accel_X = TEST_VAL_UINT16; imu->mems_raw_accel_Y = TEST_VAL_UINT16; imu->mems_raw_accel_Z = TEST_VAL_UINT16; imu->mems_raw_gyro_X = TEST_VAL_UINT16; imu->mems_raw_gyro_Y = TEST_VAL_UINT16; imu->mems_raw_gyro_Z = TEST_VAL_UINT16; imu->mems_raw_magf_X = TEST_VAL_UINT16; imu->mems_raw_magf_Y = TEST_VAL_UINT16; imu->mems_raw_magf_Z = TEST_VAL_UINT16; } static const char* BNO08xAccuracy_to_str(BNO08xAccuracy accuracy) { switch (accuracy) { case BNO08xAccuracy::LOW: return "LOW"; case BNO08xAccuracy::MED: return "MED"; case BNO08xAccuracy::HIGH: return "HIGH"; case BNO08xAccuracy::UNDEFINED: return "UNDEFINED"; default: return "UNKNOWN"; // For undefined cases or future-proofing } }; };