844 lines
36 KiB
C++
844 lines
36 KiB
C++
#include "unity.h"
|
|
#include "../include/BNO08xTestHelper.hpp"
|
|
|
|
TEST_CASE("BNO08x Driver Creation for [MultiReportEnableDisable] Tests", "[MultiReportEnableDisable]")
|
|
{
|
|
const constexpr char* TEST_TAG = "BNO08x Driver Creation for [MultiReportEnableDisable] Tests";
|
|
BNO08x* imu = nullptr;
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver.");
|
|
BNO08xTestHelper::create_test_imu();
|
|
imu = BNO08xTestHelper::get_test_imu();
|
|
|
|
// ensure IMU initialized successfully
|
|
TEST_ASSERT_EQUAL(true, imu->initialize());
|
|
}
|
|
|
|
TEST_CASE("Dual Report Enable/Disable", "[MultiReportEnableDisable]")
|
|
{
|
|
const constexpr char* TEST_TAG = "Dual Report Enable/Disable";
|
|
BNO08x* imu = nullptr;
|
|
BNO08xTestHelper::imu_report_data_t report_data;
|
|
BNO08xTestHelper::imu_report_data_t prev_report_data;
|
|
char msg_buff[200] = {};
|
|
const constexpr uint8_t ENABLED_REPORT_CNT = 2;
|
|
const constexpr uint8_t RX_REPORT_TRIAL_CNT = 2 * ENABLED_REPORT_CNT;
|
|
const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
|
|
|
bool new_data[ENABLED_REPORT_CNT] = {false, false};
|
|
|
|
imu = BNO08xTestHelper::get_test_imu();
|
|
|
|
// reset all data used in report test
|
|
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Enabling Accelerometer and Linear Accelerometer reports, checking for new data on both.");
|
|
|
|
imu->enable_accelerometer(REPORT_PERIOD);
|
|
imu->enable_linear_accelerometer(REPORT_PERIOD);
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
{
|
|
if (imu->data_available())
|
|
{
|
|
prev_report_data = report_data;
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[0] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
|
|
"%.2lf Accuracy %s",
|
|
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[1] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
}
|
|
}
|
|
|
|
// check that new data was received for each report
|
|
TEST_ASSERT_EQUAL(true, new_data[0]);
|
|
TEST_ASSERT_EQUAL(true, new_data[1]);
|
|
|
|
// reset all data used in report test
|
|
new_data[0] = false;
|
|
new_data[1] = false;
|
|
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling only Linear Accelerometer report and checking for new data on both.");
|
|
imu->disable_linear_accelerometer();
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
{
|
|
if (imu->data_available())
|
|
{
|
|
prev_report_data = report_data;
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[0] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
|
|
"%.2lf Accuracy %s",
|
|
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
// no new data should be detected here, report is disabled.
|
|
new_data[1] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Failure (REPORT DISABLED): LinearAccel: laX: %.2lf laY: %.2lf laZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
}
|
|
}
|
|
|
|
// check that new data was received only for accelerometer report
|
|
TEST_ASSERT_EQUAL(true, new_data[0]);
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data[1]);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling Accelerometer report");
|
|
imu->disable_accelerometer();
|
|
}
|
|
|
|
TEST_CASE("Tri Report Enable/Disable", "[MultiReportEnableDisable]")
|
|
{
|
|
const constexpr char* TEST_TAG = "Tri Report Enable/Disable";
|
|
BNO08x* imu = nullptr;
|
|
BNO08xTestHelper::imu_report_data_t report_data;
|
|
BNO08xTestHelper::imu_report_data_t prev_report_data;
|
|
char msg_buff[200] = {};
|
|
const constexpr uint8_t ENABLED_REPORT_CNT = 3;
|
|
const constexpr uint8_t RX_REPORT_TRIAL_CNT = 2 * ENABLED_REPORT_CNT;
|
|
const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
|
|
|
bool new_data[ENABLED_REPORT_CNT] = {false, false, false};
|
|
|
|
imu = BNO08xTestHelper::get_test_imu();
|
|
|
|
// reset all data used in report test
|
|
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
BNO08xTestHelper::print_test_msg(
|
|
TEST_TAG, "Enabling Accelerometer, Linear Accelerometer, and Magnetometer reports, checking for new data on all.");
|
|
|
|
imu->enable_accelerometer(REPORT_PERIOD);
|
|
imu->enable_linear_accelerometer(REPORT_PERIOD);
|
|
imu->enable_magnetometer(REPORT_PERIOD);
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
{
|
|
if (imu->data_available())
|
|
{
|
|
prev_report_data = report_data;
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[0] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
|
|
"%.2lf Accuracy %s",
|
|
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[1] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[2] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: Magf: mX: %.2lf mY: %.2lf mZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
}
|
|
}
|
|
|
|
// check that new data was received for each report
|
|
TEST_ASSERT_EQUAL(true, new_data[0]);
|
|
TEST_ASSERT_EQUAL(true, new_data[1]);
|
|
TEST_ASSERT_EQUAL(true, new_data[2]);
|
|
|
|
// reset all data used in report test
|
|
new_data[0] = false;
|
|
new_data[1] = false;
|
|
new_data[2] = false;
|
|
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Magnetometer report and checking for new data on remaining reports.");
|
|
imu->disable_magnetometer();
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
{
|
|
if (imu->data_available())
|
|
{
|
|
prev_report_data = report_data;
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[0] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
|
|
"%.2lf Accuracy %s",
|
|
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[1] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[2] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Failure (REPORT DISABLED): Magf: mX: %.2lf mY: %.2lf mZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
}
|
|
}
|
|
|
|
// check that new data was received for only enabled reports
|
|
TEST_ASSERT_EQUAL(true, new_data[0]);
|
|
TEST_ASSERT_EQUAL(true, new_data[1]);
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data[2]);
|
|
|
|
// reset all data used in report test
|
|
new_data[0] = false;
|
|
new_data[1] = false;
|
|
new_data[2] = false;
|
|
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Linear Accelerometer report and checking for new data on remaining reports.");
|
|
imu->disable_linear_accelerometer();
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
{
|
|
if (imu->data_available())
|
|
{
|
|
prev_report_data = report_data;
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[0] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
|
|
"%.2lf Accuracy %s",
|
|
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
// no new data should be detected here, report is disabled.
|
|
new_data[1] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Failure (REPORT DISABLED): LinearAccel: laX: %.2lf laY: %.2lf laZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[2] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Failure (REPORT DISABLED): Magf: mX: %.2lf mY: %.2lf mZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
}
|
|
}
|
|
|
|
// check that new data was received for only enabled reports
|
|
TEST_ASSERT_EQUAL(true, new_data[0]);
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data[1]);
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data[2]);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling Accelerometer report");
|
|
imu->disable_accelerometer();
|
|
}
|
|
|
|
TEST_CASE("Quad Report Enable/Disable", "[MultiReportEnableDisable]")
|
|
{
|
|
const constexpr char* TEST_TAG = "Quad Report Enable/Disable";
|
|
BNO08x* imu = nullptr;
|
|
BNO08xTestHelper::imu_report_data_t report_data;
|
|
BNO08xTestHelper::imu_report_data_t prev_report_data;
|
|
char msg_buff[200] = {};
|
|
const constexpr uint8_t ENABLED_REPORT_CNT = 4;
|
|
const constexpr uint8_t RX_REPORT_TRIAL_CNT = 2 * ENABLED_REPORT_CNT;
|
|
const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
|
|
|
bool new_data[ENABLED_REPORT_CNT] = {false, false, false, false};
|
|
|
|
imu = BNO08xTestHelper::get_test_imu();
|
|
|
|
// reset all data used in report test
|
|
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
BNO08xTestHelper::print_test_msg(
|
|
TEST_TAG, "Enabling Accelerometer, Linear Accelerometer, Magnetometer, and Rotation Vector reports, checking for new data on all.");
|
|
|
|
imu->enable_accelerometer(REPORT_PERIOD);
|
|
imu->enable_linear_accelerometer(REPORT_PERIOD);
|
|
imu->enable_magnetometer(REPORT_PERIOD);
|
|
imu->enable_rotation_vector(REPORT_PERIOD);
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
{
|
|
if (imu->data_available())
|
|
{
|
|
prev_report_data = report_data;
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[0] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
|
|
"%.2lf Accuracy %s",
|
|
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[1] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[2] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: Magf: mX: %.2lf mY: %.2lf mZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[3] = true;
|
|
|
|
sprintf(msg_buff, "Rx Data Trial %d Success: Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1), report_data.quat_I,
|
|
report_data.quat_J, report_data.quat_K, report_data.quat_real,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
}
|
|
}
|
|
|
|
// check that new data was received for each report
|
|
TEST_ASSERT_EQUAL(true, new_data[0]);
|
|
TEST_ASSERT_EQUAL(true, new_data[1]);
|
|
TEST_ASSERT_EQUAL(true, new_data[2]);
|
|
TEST_ASSERT_EQUAL(true, new_data[3]);
|
|
|
|
// reset all data used in report test
|
|
new_data[0] = false;
|
|
new_data[1] = false;
|
|
new_data[2] = false;
|
|
new_data[3] = false;
|
|
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Rotation Vector report and checking for new data on remaining reports.");
|
|
imu->disable_rotation_vector();
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
{
|
|
if (imu->data_available())
|
|
{
|
|
prev_report_data = report_data;
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[0] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
|
|
"%.2lf Accuracy %s",
|
|
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[1] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[2] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: Magf: mX: %.2lf mY: %.2lf mZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[3] = true;
|
|
|
|
sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1),
|
|
report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
}
|
|
}
|
|
|
|
// check that new data was received for only enabled reports
|
|
TEST_ASSERT_EQUAL(true, new_data[0]);
|
|
TEST_ASSERT_EQUAL(true, new_data[1]);
|
|
TEST_ASSERT_EQUAL(true, new_data[2]);
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data[3]);
|
|
|
|
// reset all data used in report test
|
|
new_data[0] = false;
|
|
new_data[1] = false;
|
|
new_data[2] = false;
|
|
new_data[3] = false;
|
|
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Magnetometer report and checking for new data on remaining reports.");
|
|
imu->disable_magnetometer();
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
{
|
|
if (imu->data_available())
|
|
{
|
|
prev_report_data = report_data;
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[0] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
|
|
"%.2lf Accuracy %s",
|
|
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[1] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[2] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Failure (REPORT DISABLED): Magf: mX: %.2lf mY: %.2lf mZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[3] = true;
|
|
|
|
sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1),
|
|
report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
}
|
|
}
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Linear Accelerometer report and checking for new data on remaining reports.");
|
|
imu->disable_linear_accelerometer();
|
|
|
|
// check that new data was received for only enabled reports
|
|
TEST_ASSERT_EQUAL(true, new_data[0]);
|
|
TEST_ASSERT_EQUAL(true, new_data[1]);
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data[2]);
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data[3]);
|
|
|
|
// reset all data used in report test
|
|
new_data[0] = false;
|
|
new_data[1] = false;
|
|
new_data[2] = false;
|
|
new_data[3] = false;
|
|
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
{
|
|
if (imu->data_available())
|
|
{
|
|
prev_report_data = report_data;
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[0] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
|
|
"%.2lf Accuracy %s",
|
|
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[1] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Failure (REPORT DISABLED): LinearAccel: laX: %.2lf laY: %.2lf laZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[2] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Failure (REPORT DISABLED): Magf: mX: %.2lf mY: %.2lf mZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[3] = true;
|
|
|
|
sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1),
|
|
report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
}
|
|
}
|
|
|
|
// check that new data was received for only enabled reports
|
|
TEST_ASSERT_EQUAL(true, new_data[0]);
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data[1]);
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data[2]);
|
|
TEST_ASSERT_NOT_EQUAL(true, new_data[3]);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling Accelerometer report");
|
|
imu->disable_accelerometer();
|
|
}
|
|
|
|
TEST_CASE("Hex Report Enable", "[MultiReportEnableDisable]")
|
|
{
|
|
const constexpr char* TEST_TAG = "Hex Report Enable";
|
|
BNO08x* imu = nullptr;
|
|
BNO08xTestHelper::imu_report_data_t report_data;
|
|
BNO08xTestHelper::imu_report_data_t prev_report_data;
|
|
char msg_buff[200] = {};
|
|
const constexpr uint8_t ENABLED_REPORT_CNT = 8;
|
|
const constexpr uint8_t RX_REPORT_TRIAL_CNT = 2 * ENABLED_REPORT_CNT;
|
|
const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
|
|
|
bool new_data[ENABLED_REPORT_CNT] = {false, false, false, false, false, false, false, false};
|
|
|
|
imu = BNO08xTestHelper::get_test_imu();
|
|
|
|
// reset all data used in report test
|
|
BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Enabling Accelerometer, Linear Accelerometer, Magnetometer, Rotation Vector, Uncalibrated Gyro, "
|
|
"Calibrated Gyro, Gravity, and Step Counter "
|
|
"reports, checking for new data on all.");
|
|
|
|
imu->enable_accelerometer(REPORT_PERIOD);
|
|
imu->enable_linear_accelerometer(REPORT_PERIOD);
|
|
imu->enable_magnetometer(REPORT_PERIOD);
|
|
imu->enable_rotation_vector(REPORT_PERIOD);
|
|
imu->enable_uncalibrated_gyro(REPORT_PERIOD);
|
|
imu->enable_calibrated_gyro(REPORT_PERIOD);
|
|
imu->enable_gravity(REPORT_PERIOD);
|
|
imu->enable_step_counter(REPORT_PERIOD);
|
|
|
|
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
|
{
|
|
if (imu->data_available())
|
|
{
|
|
prev_report_data = report_data;
|
|
BNO08xTestHelper::update_report_data(&report_data);
|
|
|
|
// check if any default values have been overwritten, implying new data from respective report
|
|
if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[0] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
|
|
"%.2lf Accuracy %s",
|
|
(i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[1] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[2] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: Magf: mX: %.2lf mY: %.2lf mZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[3] = true;
|
|
|
|
sprintf(msg_buff, "Rx Data Trial %d Success: Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1), report_data.quat_I,
|
|
report_data.quat_J, report_data.quat_K, report_data.quat_real,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::uncalibrated_gyro_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[4] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: UncalibratedGyro: vX: %.2lf vY: %.2lf vZ: %.2lf driftX: %.2lf driftY: %.2lf driftZ: "
|
|
"%.2lf",
|
|
(i + 1), 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);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::calibrated_gyro_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[5] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: CalibratedGyro: vX: %.2lf vY: %.2lf vZ: "
|
|
"%.2lf",
|
|
(i + 1), report_data.calib_gyro_vel_x, report_data.calib_gyro_vel_y, report_data.calib_gyro_vel_z);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::gravity_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[6] = true;
|
|
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: Gravity: gX: %.2lf gY: %.2lf gZ: "
|
|
"%.2lf Accuracy: %s",
|
|
(i + 1), report_data.grav_x, report_data.grav_y, report_data.grav_z,
|
|
BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.grav_accuracy));
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
if (BNO08xTestHelper::step_counter_data_is_new(&report_data, &prev_report_data))
|
|
{
|
|
new_data[7] = true;
|
|
|
|
sprintf(msg_buff, "Rx Data Trial %d Success: StepCounter: %d steps", (i + 1), report_data.step_count);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
}
|
|
}
|
|
|
|
// check that new data was received for each report
|
|
TEST_ASSERT_EQUAL(true, new_data[0]);
|
|
TEST_ASSERT_EQUAL(true, new_data[1]);
|
|
TEST_ASSERT_EQUAL(true, new_data[2]);
|
|
TEST_ASSERT_EQUAL(true, new_data[3]);
|
|
TEST_ASSERT_EQUAL(true, new_data[4]);
|
|
TEST_ASSERT_EQUAL(true, new_data[5]);
|
|
TEST_ASSERT_EQUAL(true, new_data[6]);
|
|
TEST_ASSERT_EQUAL(true, new_data[7]);
|
|
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling all reports.");
|
|
|
|
imu->disable_accelerometer();
|
|
imu->disable_linear_accelerometer();
|
|
imu->disable_magnetometer();
|
|
imu->disable_rotation_vector();
|
|
imu->disable_uncalibrated_gyro();
|
|
imu->disable_calibrated_gyro();
|
|
imu->disable_gravity();
|
|
imu->disable_step_counter();
|
|
}
|
|
|
|
TEST_CASE("BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests", "[MultiReportEnableDisable]")
|
|
{
|
|
const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests";
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
|
|
|
|
BNO08xTestHelper::destroy_test_imu();
|
|
}
|