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