256 lines
9.0 KiB
C++
256 lines
9.0 KiB
C++
#include "unity.h"
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#include "../include/BNO08xTestHelper.hpp"
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
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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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IMUAccuracy raw_quat_radian_accuracy;
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IMUAccuracy quat_accuracy;
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} imu_report_data_t;
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void update_report_data(imu_report_data_t* report_data, BNO08x* imu)
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{
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report_data->quat_I = imu->get_quat_I();
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report_data->quat_J = imu->get_quat_J();
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report_data->quat_K = imu->get_quat_K();
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report_data->quat_real = imu->get_quat_real();
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report_data->raw_quat_radian_accuracy = static_cast<IMUAccuracy>(imu->get_raw_quat_radian_accuracy());
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report_data->quat_accuracy = static_cast<IMUAccuracy>(imu->get_quat_accuracy());
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}
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TEST_CASE("Enable/Disable Rotation Vector", "[ReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable Rotation Vector";
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BNO08x* imu = nullptr;
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imu_report_data_t report_data;
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bool new_data = false;
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char msg_buff[200] = {};
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing IMU for Enable/Disable report tests.");
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BNO08xTestHelper::create_test_imu();
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imu = BNO08xTestHelper::get_test_imu();
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// ensure IMU initialized successfully
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TEST_ASSERT_EQUAL(true, imu->initialize());
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
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/*enable respective report to test and ensure it reports new data */
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imu->enable_rotation_vector(100000UL);
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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new_data = false;
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if (imu->data_available())
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{
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update_report_data(&report_data, imu);
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// check if any default values have been overwritten, implying new data from respective report
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if (report_data.quat_I != 0.0f)
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new_data = true;
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if (report_data.quat_J != 0.0f)
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new_data = true;
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if (report_data.quat_K != 0.0f)
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new_data = true;
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if (report_data.quat_real != 1.0f)
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new_data = true;
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// if the accuracy still contains its default value, something has gone wrong, a defined accuracy should be received with every report
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if (report_data.quat_accuracy == IMUAccuracy::UNDEFINED)
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new_data = false;
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if (report_data.raw_quat_radian_accuracy == IMUAccuracy::UNDEFINED)
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new_data = false;
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}
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// assert whether new data was received or not
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TEST_ASSERT_EQUAL(true, new_data);
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sprintf(msg_buff, "Enabled Report Rx Data Trial %d Success: I: %.2lf J: %.2lf K: %.2lf real: %.2lf", (i + 1), report_data.quat_I,
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report_data.quat_J, report_data.quat_K, report_data.quat_real);
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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}
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
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/*disable respective report to test and ensure it stops reporting new data */
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imu->disable_rotation_vector();
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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new_data = false;
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// use "true" argument to force wait for data even if no reports are enabled
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if (imu->data_available(true))
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{
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update_report_data(&report_data, imu);
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// check if any default values have been overwritten, implying new data from respective report
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if (report_data.quat_I != 0.0f)
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new_data = true;
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if (report_data.quat_J != 0.0f)
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new_data = true;
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if (report_data.quat_K != 0.0f)
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new_data = true;
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if (report_data.quat_real != 1.0f)
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new_data = true;
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// if the accuracy does not contain its default value, something has gone wrong, respective report should be disabled
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if (report_data.quat_accuracy != IMUAccuracy::UNDEFINED)
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new_data = true;
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if (report_data.raw_quat_radian_accuracy != IMUAccuracy::UNDEFINED)
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new_data = true;
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}
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// assert that no new data from this report has been received
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TEST_ASSERT_NOT_EQUAL(true, new_data);
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sprintf(msg_buff, "Disabled Report No Rx Data Trial %d Success", (i + 1));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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}
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable Game Rotation Vector", "[ReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable Game Rotation Vector";
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BNO08x* imu = nullptr;
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imu_report_data_t report_data;
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bool new_data = false;
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char msg_buff[200] = {};
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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 all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
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/*enable respective report to test and ensure it reports new data */
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imu->enable_game_rotation_vector(100000UL);
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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new_data = false;
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if (imu->data_available())
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{
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update_report_data(&report_data, imu);
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// check if any default values have been overwritten, implying new data from respective report
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if (report_data.quat_I != 0.0f)
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new_data = true;
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if (report_data.quat_J != 0.0f)
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new_data = true;
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if (report_data.quat_K != 0.0f)
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new_data = true;
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if (report_data.quat_real != 1.0f)
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new_data = true;
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// if the accuracy still contains its default value, something has gone wrong, a defined accuracy should be received with every report
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if (report_data.quat_accuracy == IMUAccuracy::UNDEFINED)
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new_data = false;
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if (report_data.raw_quat_radian_accuracy == IMUAccuracy::UNDEFINED)
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new_data = false;
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}
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// assert whether new data was received or not
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TEST_ASSERT_EQUAL(true, new_data);
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sprintf(msg_buff, "Enabled Report Rx Data Trial %d Success: I: %.2lf J: %.2lf K: %.2lf real: %.2lf", (i + 1), report_data.quat_I,
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report_data.quat_J, report_data.quat_K, report_data.quat_real);
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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}
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
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/*disable respective report to test and ensure it stops reporting new data */
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imu->disable_game_rotation_vector();
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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new_data = false;
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// use "true" argument to force wait for data even if no reports are enabled
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if (imu->data_available(true))
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{
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update_report_data(&report_data, imu);
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// check if any default values have been overwritten, implying new data from respective report
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if (report_data.quat_I != 0.0f)
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new_data = true;
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if (report_data.quat_J != 0.0f)
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new_data = true;
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if (report_data.quat_K != 0.0f)
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new_data = true;
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if (report_data.quat_real != 1.0f)
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new_data = true;
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// if the accuracy does not contain its default value, something has gone wrong, respective report should be disabled
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if (report_data.quat_accuracy != IMUAccuracy::UNDEFINED)
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new_data = true;
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if (report_data.raw_quat_radian_accuracy != IMUAccuracy::UNDEFINED)
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new_data = true;
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}
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// assert that no new data from this report has been received
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TEST_ASSERT_NOT_EQUAL(true, new_data);
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sprintf(msg_buff, "Disabled Report No Rx Data Trial %d Success", (i + 1));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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// reset all data used in report test
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imu->reset_all_data();
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update_report_data(&report_data, imu);
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}
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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} |