119 lines
3.4 KiB
C++
119 lines
3.4 KiB
C++
#include "unity.h"
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#include "../include/BNO08xTestHelper.hpp"
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TEST_CASE("Init Config Args", "[InitComprehensive]")
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{
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const constexpr char* TEST_TAG = "Init Config Args";
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BNO08x* imu = nullptr;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating test IMU.");
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BNO08xTestHelper::create_test_imu();
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_config_args());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Init GPIO", "[InitComprehensive]")
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{
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const constexpr char* TEST_TAG = "Init GPIO";
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BNO08x* imu = nullptr;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_gpio());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Init HINT ISR", "[InitComprehensive]")
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{
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const constexpr char* TEST_TAG = "Init HINT_ISR";
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BNO08x* imu = nullptr;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_hint_isr());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Init SPI", "[InitComprehensive]")
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{
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const constexpr char* TEST_TAG = "Init SPI";
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BNO08x* imu = nullptr;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_spi());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("InitComprehensive Tasks", "[InitComprehensive]")
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{
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const constexpr char* TEST_TAG = "Init Tasks";
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BNO08x* imu = nullptr;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_launch_tasks());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Finish Init", "[InitComprehensive]")
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{
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const constexpr char* TEST_TAG = "Finish Init";
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BNO08x* imu = nullptr;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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// reset imu
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TEST_ASSERT_EQUAL(true, imu->hard_reset());
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// check if reason is valid
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TEST_ASSERT_NOT_EQUAL(IMUResetReason::UNDEFINED, imu->get_reset_reason());
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying test IMU.");
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BNO08xTestHelper::destroy_test_imu();
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Init & Deinit", "[InitDenit]")
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{
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const constexpr char* TEST_TAG = "Init & Deinit";
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BNO08x* imu = nullptr;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Initializing IMU attempt 1.");
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BNO08xTestHelper::create_test_imu();
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(true, imu->initialize());
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Success, deinitializing IMU.");
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BNO08xTestHelper::destroy_test_imu();
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Initializing IMU attempt 2.");
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BNO08xTestHelper::create_test_imu();
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(true, imu->initialize());
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Success, deinitializing IMU.");
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BNO08xTestHelper::destroy_test_imu();
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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} |