643 lines
23 KiB
C++
643 lines
23 KiB
C++
/**
|
|
* @file BNO08xTestHelper.hpp
|
|
* @author Myles Parfeniuk
|
|
*/
|
|
#pragma once
|
|
|
|
#include "stdio.h"
|
|
#include "BNO08x.hpp"
|
|
|
|
/**
|
|
* @class BNO08xTestHelper
|
|
* @brief BNO08x unit test helper class.
|
|
* */
|
|
class BNO08xTestHelper
|
|
{
|
|
private:
|
|
inline static BNO08x* test_imu = nullptr;
|
|
inline static bno08x_config_t imu_cfg;
|
|
|
|
static const constexpr char* TAG = "BNO08xTestHelper";
|
|
|
|
public:
|
|
/// @brief IMU configuration settings passed into constructor
|
|
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;
|
|
|
|
uint16_t step_count;
|
|
uint8_t stability_classifier;
|
|
uint8_t activity_classifier;
|
|
|
|
} imu_report_data_t;
|
|
|
|
/**
|
|
* @brief Prints test begin banner.
|
|
*
|
|
* @param TEST_TAG String containing test name.
|
|
*
|
|
* @return void, nothing to return
|
|
*/
|
|
static void print_test_start_banner(const char* TEST_TAG)
|
|
{
|
|
printf("------------------------ BEGIN TEST: %s ------------------------\n\r", TEST_TAG);
|
|
}
|
|
|
|
/**
|
|
* @brief Prints end begin banner.
|
|
*
|
|
* @param TEST_TAG String containing test name.
|
|
*
|
|
* @return void, nothing to return
|
|
*/
|
|
static void print_test_end_banner(const char* TEST_TAG)
|
|
{
|
|
printf("------------------------ END TEST: %s ------------------------\n\r", TEST_TAG);
|
|
}
|
|
|
|
/**
|
|
* @brief Prints a message during a test.
|
|
*
|
|
* @param TEST_TAG String containing test name.
|
|
* @param msg String containing message to print.
|
|
*
|
|
* @return void, nothing to return
|
|
*/
|
|
static void print_test_msg(const char* TEST_TAG, const char* msg)
|
|
{
|
|
printf("%s: %s: %s\n\r", TAG, TEST_TAG, msg);
|
|
}
|
|
|
|
/**
|
|
* @brief Set test imu configuration used with create_test_imu()
|
|
*
|
|
* @param cfg String containing test name.
|
|
*
|
|
* @return void, nothing to return
|
|
*/
|
|
static void set_test_imu_cfg(bno08x_config_t cfg)
|
|
{
|
|
imu_cfg = cfg;
|
|
}
|
|
|
|
/**
|
|
* @brief Calls BNO08x constructor and creates new test IMU on heap.
|
|
*
|
|
* @return void, nothing to return
|
|
*/
|
|
static void create_test_imu()
|
|
{
|
|
if (test_imu != nullptr)
|
|
destroy_test_imu();
|
|
|
|
test_imu = new BNO08x();
|
|
}
|
|
|
|
/**
|
|
* @brief Deletes test IMU calling deconstructor and releases heap allocated memory.
|
|
*
|
|
* @return void, nothing to return
|
|
*/
|
|
static void destroy_test_imu()
|
|
{
|
|
if (test_imu != nullptr)
|
|
{
|
|
delete test_imu;
|
|
test_imu = nullptr;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Deletes test IMU calling deconstructor and releases heap allocated memory.
|
|
*
|
|
* @return Pointer to BNO08x IMU object to test.
|
|
*/
|
|
static BNO08x* get_test_imu()
|
|
{
|
|
return test_imu;
|
|
}
|
|
|
|
/**
|
|
* @brief Used to call private BNO08x::init_config_args() member for tests.
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static esp_err_t call_init_config_args()
|
|
{
|
|
if (test_imu == nullptr)
|
|
return ESP_FAIL;
|
|
|
|
return test_imu->init_config_args();
|
|
}
|
|
|
|
/**
|
|
* @brief Used to call private BNO08x::init_gpio() member for tests.
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static esp_err_t call_init_gpio()
|
|
{
|
|
if (test_imu == nullptr)
|
|
return ESP_FAIL;
|
|
|
|
return test_imu->init_gpio();
|
|
}
|
|
|
|
/**
|
|
* @brief Used to call private BNO08x::init_hint_isr() member for tests.
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static esp_err_t call_init_hint_isr()
|
|
{
|
|
if (test_imu == nullptr)
|
|
return ESP_FAIL;
|
|
|
|
return test_imu->init_hint_isr();
|
|
}
|
|
|
|
/**
|
|
* @brief Used to call private BNO08x::init_spi() member for tests.
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static esp_err_t call_init_spi()
|
|
{
|
|
if (test_imu == nullptr)
|
|
return ESP_FAIL;
|
|
|
|
return test_imu->init_spi();
|
|
}
|
|
|
|
/**
|
|
* @brief Used to call private BNO08x::launch_tasks() member for tests.
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static esp_err_t call_launch_tasks()
|
|
{
|
|
if (test_imu == nullptr)
|
|
return ESP_FAIL;
|
|
|
|
return test_imu->launch_tasks();
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
|
|
*
|
|
* @param report_data Current report data.
|
|
* @param default_report_data Default report data to compare (should always contain default values)
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static bool rotation_vector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
|
{
|
|
bool new_data = false;
|
|
|
|
// prev report should always contain the default test values as per test structure
|
|
if (report_data->quat_I != default_report_data->quat_I)
|
|
new_data = true;
|
|
|
|
if (report_data->quat_J != default_report_data->quat_J)
|
|
new_data = true;
|
|
|
|
if (report_data->quat_K != default_report_data->quat_K)
|
|
new_data = true;
|
|
|
|
if (report_data->quat_real != default_report_data->quat_real)
|
|
new_data = true;
|
|
|
|
if (report_data->quat_accuracy != default_report_data->quat_accuracy)
|
|
new_data = true;
|
|
|
|
if (report_data->quat_radian_accuracy != default_report_data->quat_radian_accuracy)
|
|
new_data = true;
|
|
|
|
return new_data;
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
|
|
*
|
|
* @param report_data Current report data.
|
|
* @param default_report_data Default report data to compare (should always contain default values)
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static bool gyro_integrated_rotation_vector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
|
{
|
|
bool new_data = false;
|
|
|
|
if (report_data->quat_I != default_report_data->quat_I)
|
|
new_data = true;
|
|
|
|
if (report_data->quat_J != default_report_data->quat_J)
|
|
new_data = true;
|
|
|
|
if (report_data->quat_K != default_report_data->quat_K)
|
|
new_data = true;
|
|
|
|
if (report_data->quat_real != default_report_data->quat_real)
|
|
new_data = true;
|
|
|
|
if (report_data->integrated_gyro_vel_x != default_report_data->integrated_gyro_vel_x)
|
|
new_data = true;
|
|
|
|
if (report_data->integrated_gyro_vel_y != default_report_data->integrated_gyro_vel_y)
|
|
new_data = true;
|
|
|
|
if (report_data->integrated_gyro_vel_z != default_report_data->integrated_gyro_vel_z)
|
|
new_data = true;
|
|
|
|
return new_data;
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
|
|
*
|
|
* @param report_data Current report data.
|
|
* @param default_report_data Default report data to compare (should always contain default values)
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static bool uncalibrated_gyro_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
|
{
|
|
bool new_data = false;
|
|
|
|
if (report_data->uncalib_gyro_vel_x != default_report_data->uncalib_gyro_vel_x)
|
|
new_data = true;
|
|
|
|
if (report_data->uncalib_gyro_vel_y != default_report_data->uncalib_gyro_vel_y)
|
|
new_data = true;
|
|
|
|
if (report_data->uncalib_gyro_vel_z != default_report_data->uncalib_gyro_vel_z)
|
|
new_data = true;
|
|
|
|
if (report_data->uncalib_gyro_drift_x != default_report_data->uncalib_gyro_drift_x)
|
|
new_data = true;
|
|
|
|
if (report_data->uncalib_gyro_drift_y != default_report_data->uncalib_gyro_drift_y)
|
|
new_data = true;
|
|
|
|
if (report_data->uncalib_gyro_drift_z != default_report_data->uncalib_gyro_drift_z)
|
|
new_data = true;
|
|
|
|
return new_data;
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
|
|
*
|
|
* @param report_data Current report data.
|
|
* @param default_report_data Default report data to compare (should always contain default values)
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static bool calibrated_gyro_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
|
{
|
|
bool new_data = false;
|
|
|
|
if (report_data->calib_gyro_vel_x != default_report_data->calib_gyro_vel_x)
|
|
new_data = true;
|
|
|
|
if (report_data->calib_gyro_vel_y != default_report_data->calib_gyro_vel_y)
|
|
new_data = true;
|
|
|
|
if (report_data->calib_gyro_vel_z != default_report_data->calib_gyro_vel_z)
|
|
new_data = true;
|
|
|
|
return new_data;
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
|
|
*
|
|
* @param report_data Current report data.
|
|
* @param default_report_data Default report data to compare (should always contain default values)
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static bool accelerometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
|
{
|
|
bool new_data = false;
|
|
|
|
if (report_data->accel_x != default_report_data->accel_x)
|
|
new_data = true;
|
|
|
|
if (report_data->accel_y != default_report_data->accel_y)
|
|
new_data = true;
|
|
|
|
if (report_data->accel_z != default_report_data->accel_z)
|
|
new_data = true;
|
|
|
|
if (report_data->accel_accuracy != default_report_data->accel_accuracy)
|
|
new_data = true;
|
|
|
|
return new_data;
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
|
|
*
|
|
* @param report_data Current report data.
|
|
* @param default_report_data Default report data to compare (should always contain default values)
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static bool linear_accelerometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
|
{
|
|
bool new_data = false;
|
|
|
|
if (report_data->lin_accel_x != default_report_data->lin_accel_x)
|
|
new_data = true;
|
|
|
|
if (report_data->lin_accel_y != default_report_data->lin_accel_y)
|
|
new_data = true;
|
|
|
|
if (report_data->lin_accel_z != default_report_data->lin_accel_z)
|
|
new_data = true;
|
|
|
|
if (report_data->lin_accel_accuracy != default_report_data->lin_accel_accuracy)
|
|
new_data = true;
|
|
|
|
return new_data;
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
|
|
*
|
|
* @param report_data Current report data.
|
|
* @param default_report_data Default report data to compare (should always contain default values)
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static bool gravity_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
|
{
|
|
bool new_data = false;
|
|
|
|
if (report_data->grav_x != default_report_data->grav_x)
|
|
new_data = true;
|
|
|
|
if (report_data->grav_y != default_report_data->grav_y)
|
|
new_data = true;
|
|
|
|
if (report_data->grav_z != default_report_data->grav_z)
|
|
new_data = true;
|
|
|
|
if (report_data->grav_accuracy != default_report_data->grav_accuracy)
|
|
new_data = true;
|
|
|
|
return new_data;
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
|
|
*
|
|
* @param report_data Current report data.
|
|
* @param default_report_data Default report data to compare (should always contain default values)
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static bool magnetometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
|
{
|
|
bool new_data = false;
|
|
|
|
if (report_data->magf_x != default_report_data->magf_x)
|
|
new_data = true;
|
|
|
|
if (report_data->magf_y != default_report_data->magf_y)
|
|
new_data = true;
|
|
|
|
if (report_data->magf_z != default_report_data->magf_z)
|
|
new_data = true;
|
|
|
|
if (report_data->magf_accuracy != default_report_data->magf_accuracy)
|
|
new_data = true;
|
|
|
|
return new_data;
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
|
|
*
|
|
* @param report_data Current report data.
|
|
* @param default_report_data Default report data to compare (should always contain default values)
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static bool step_detector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
|
{
|
|
bool new_data = false;
|
|
|
|
if (report_data->step_count != default_report_data->step_count)
|
|
new_data = true;
|
|
|
|
return new_data;
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
|
|
*
|
|
* @param report_data Current report data.
|
|
* @param default_report_data Default report data to compare (should always contain default values)
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static bool stability_classifier_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
|
{
|
|
bool new_data = false;
|
|
|
|
if (report_data->stability_classifier != default_report_data->stability_classifier)
|
|
new_data = true;
|
|
|
|
return new_data;
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
|
|
*
|
|
* @param report_data Current report data.
|
|
* @param default_report_data Default report data to compare (should always contain default values)
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static bool activity_classifier_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
|
|
{
|
|
bool new_data = false;
|
|
|
|
if (report_data->activity_classifier != default_report_data->activity_classifier)
|
|
new_data = true;
|
|
|
|
return new_data;
|
|
}
|
|
|
|
/**
|
|
* @brief Updates report data with calls relevant test_imu methods.
|
|
*
|
|
* @param report_data Pointer to imu_report_data_t struct to save report data.
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static void update_report_data(imu_report_data_t* report_data)
|
|
{
|
|
|
|
test_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);
|
|
test_imu->get_integrated_gyro_velocity(
|
|
report_data->integrated_gyro_vel_x, report_data->integrated_gyro_vel_y, report_data->integrated_gyro_vel_z);
|
|
test_imu->get_accel(report_data->accel_x, report_data->accel_y, report_data->accel_z, report_data->accel_accuracy);
|
|
test_imu->get_linear_accel(report_data->lin_accel_x, report_data->lin_accel_y, report_data->lin_accel_z, report_data->lin_accel_accuracy);
|
|
test_imu->get_gravity(report_data->grav_x, report_data->grav_y, report_data->grav_z, report_data->grav_accuracy);
|
|
test_imu->get_calibrated_gyro_velocity(report_data->calib_gyro_vel_x, report_data->calib_gyro_vel_y, report_data->calib_gyro_vel_z);
|
|
test_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);
|
|
test_imu->get_magf(report_data->magf_x, report_data->magf_y, report_data->magf_z, report_data->magf_accuracy);
|
|
test_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->step_count = test_imu->get_step_count();
|
|
report_data->stability_classifier = test_imu->get_stability_classifier();
|
|
report_data->activity_classifier = test_imu->get_activity_classifier();
|
|
}
|
|
|
|
/**
|
|
* @brief Resets internal test imu data with test defaults.
|
|
*
|
|
* @return ESP_OK if init succeeded.
|
|
*/
|
|
static void reset_all_imu_data_to_test_defaults()
|
|
{
|
|
static const constexpr uint16_t TEST_VAL_UINT16 = 65535U;
|
|
static const constexpr uint16_t TEST_VAL_UINT8 = 255;
|
|
test_imu->time_stamp = 0UL;
|
|
|
|
test_imu->raw_accel_X = TEST_VAL_UINT16;
|
|
test_imu->raw_accel_Y = TEST_VAL_UINT16;
|
|
test_imu->raw_accel_Z = TEST_VAL_UINT16;
|
|
test_imu->accel_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
|
|
|
|
test_imu->raw_lin_accel_X = TEST_VAL_UINT16;
|
|
test_imu->raw_lin_accel_Y = TEST_VAL_UINT16;
|
|
test_imu->raw_lin_accel_Z = TEST_VAL_UINT16;
|
|
test_imu->accel_lin_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
|
|
|
|
test_imu->raw_calib_gyro_X = TEST_VAL_UINT16;
|
|
test_imu->raw_calib_gyro_Y = TEST_VAL_UINT16;
|
|
test_imu->raw_calib_gyro_Z = TEST_VAL_UINT16;
|
|
|
|
// reset quaternion to nan
|
|
test_imu->raw_quat_I = TEST_VAL_UINT16;
|
|
test_imu->raw_quat_J = TEST_VAL_UINT16;
|
|
test_imu->raw_quat_K = TEST_VAL_UINT16;
|
|
test_imu->raw_quat_real = TEST_VAL_UINT16;
|
|
test_imu->raw_quat_radian_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
|
|
test_imu->quat_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
|
|
|
|
test_imu->integrated_gyro_velocity_X = TEST_VAL_UINT16;
|
|
test_imu->integrated_gyro_velocity_Y = TEST_VAL_UINT16;
|
|
test_imu->integrated_gyro_velocity_Z = TEST_VAL_UINT16;
|
|
|
|
test_imu->gravity_X = TEST_VAL_UINT16;
|
|
test_imu->gravity_Y = TEST_VAL_UINT16;
|
|
test_imu->gravity_Z = TEST_VAL_UINT16;
|
|
test_imu->gravity_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
|
|
|
|
test_imu->raw_uncalib_gyro_X = TEST_VAL_UINT16;
|
|
test_imu->raw_uncalib_gyro_Y = TEST_VAL_UINT16;
|
|
test_imu->raw_uncalib_gyro_Z = TEST_VAL_UINT16;
|
|
test_imu->raw_bias_X = TEST_VAL_UINT16;
|
|
test_imu->raw_bias_Y = TEST_VAL_UINT16;
|
|
test_imu->raw_bias_Z = TEST_VAL_UINT16;
|
|
|
|
test_imu->raw_magf_X = TEST_VAL_UINT16;
|
|
test_imu->raw_magf_Y = TEST_VAL_UINT16;
|
|
test_imu->raw_magf_Z = TEST_VAL_UINT16;
|
|
test_imu->magf_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
|
|
|
|
test_imu->tap_detector = TEST_VAL_UINT8;
|
|
test_imu->step_count = TEST_VAL_UINT16;
|
|
test_imu->stability_classifier = TEST_VAL_UINT8;
|
|
test_imu->activity_classifier = TEST_VAL_UINT8;
|
|
|
|
test_imu->mems_raw_accel_X = TEST_VAL_UINT16;
|
|
test_imu->mems_raw_accel_Y = TEST_VAL_UINT16;
|
|
test_imu->mems_raw_accel_Z = TEST_VAL_UINT16;
|
|
|
|
test_imu->mems_raw_gyro_X = TEST_VAL_UINT16;
|
|
test_imu->mems_raw_gyro_Y = TEST_VAL_UINT16;
|
|
test_imu->mems_raw_gyro_Z = TEST_VAL_UINT16;
|
|
|
|
test_imu->mems_raw_magf_X = TEST_VAL_UINT16;
|
|
test_imu->mems_raw_magf_Y = TEST_VAL_UINT16;
|
|
test_imu->mems_raw_magf_Z = TEST_VAL_UINT16;
|
|
}
|
|
|
|
/**
|
|
* @brief Converts BNO08xAccuracy enum class object to string.
|
|
*
|
|
* @param report_data BNO08xAccuracy object to convert to string.
|
|
*
|
|
* @return The resulting string conversion.
|
|
*/
|
|
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
|
|
}
|
|
};
|
|
}; |