bno08x_handler_comprehensive_test.cpp File Reference

Comprehensive test suite for Bno08xHandler. More...

#include "TestFramework.h"
#include "esp32_bus_setup.hpp"
#include "esp32_test_config.hpp"
#include "handlers/bno08x/Bno08xHandler.h"
#include <memory>
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

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Functions
static bool	create_handler () noexcept
static bool	test_construction () noexcept
static bool	test_initialize () noexcept
static bool	test_is_initialized () noexcept
static bool	test_enable_accelerometer () noexcept
static bool	test_disable_sensor () noexcept
static bool	test_read_acceleration () noexcept
static bool	test_read_imu_data () noexcept
static bool	test_freshness_gating () noexcept
static bool	test_full_config () noexcept
static bool	test_hardware_reset () noexcept
static bool	test_operations_before_init () noexcept
void	app_main (void)

Variables
static const char *	TAG = "BNO08x_Handler_Test"
static TestResults	g_test_results
static constexpr bool	ENABLE_INITIALIZATION_TESTS = true
static constexpr bool	ENABLE_SENSOR_CONTROL_TESTS = true
static constexpr bool	ENABLE_DATA_READING_TESTS = true
static constexpr bool	ENABLE_FRESHNESS_TESTS = true
static constexpr bool	ENABLE_CONFIG_TESTS = true
static constexpr bool	ENABLE_CALLBACK_TESTS = true
static constexpr bool	ENABLE_HARDWARE_CTRL_TESTS = true
static constexpr bool	ENABLE_ERROR_HANDLING_TESTS = true
static constexpr bool	ENABLE_THREAD_SAFETY_TESTS = true
static std::unique_ptr< EspGpio >	g_int_gpio
static std::unique_ptr< EspGpio >	g_rst_gpio
static std::unique_ptr< Bno08xHandler >	g_handler

Detailed Description

Comprehensive test suite for Bno08xHandler.

Tests the BNO08x IMU handler through its full public API, exercising the underlying CRTP I2C adapter and BNO085 driver.

Test Categories:

1. Initialization & lifecycle (I2C probe, Begin, interface detection)
2. Sensor enable/disable (accelerometer, gyroscope, magnetometer, etc.)
3. Data reading (vectors, quaternion, Euler, activity, gestures)
4. Freshness gating (HasNewData → valid flag)
5. Configuration (apply, persist, intervals)
6. Callback management
7. Hardware reset / boot / wake pins
8. Error mapping (SH-2 → Bno08xError)
9. Thread safety

Hardware Required:

• BNO085/BNO080 on I2C bus
• INT and RST GPIOs connected

Author

HardFOC Team

Date

2025-2026

Copyright

GPL-3.0-or-later

Function Documentation

app_main()

void app_main

(

void

)

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create_handler()

static bool create_handler ( )

staticnoexcept

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test_construction()

static bool test_construction ( )

staticnoexcept

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test_disable_sensor()

static bool test_disable_sensor ( )

staticnoexcept

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test_enable_accelerometer()

static bool test_enable_accelerometer ( )

staticnoexcept

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test_freshness_gating()

static bool test_freshness_gating ( )

staticnoexcept

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test_full_config()

static bool test_full_config ( )

staticnoexcept

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test_hardware_reset()

static bool test_hardware_reset ( )

staticnoexcept

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test_initialize()

static bool test_initialize ( )

staticnoexcept

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test_is_initialized()

static bool test_is_initialized ( )

staticnoexcept

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test_operations_before_init()

static bool test_operations_before_init ( )

staticnoexcept

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test_read_acceleration()

static bool test_read_acceleration ( )

staticnoexcept

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test_read_imu_data()

static bool test_read_imu_data ( )

staticnoexcept

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Variable Documentation

ENABLE_CALLBACK_TESTS

constexpr bool ENABLE_CALLBACK_TESTS = true

staticconstexpr

ENABLE_CONFIG_TESTS

constexpr bool ENABLE_CONFIG_TESTS = true

staticconstexpr

ENABLE_DATA_READING_TESTS

constexpr bool ENABLE_DATA_READING_TESTS = true

staticconstexpr

ENABLE_ERROR_HANDLING_TESTS

constexpr bool ENABLE_ERROR_HANDLING_TESTS = true

staticconstexpr

ENABLE_FRESHNESS_TESTS

constexpr bool ENABLE_FRESHNESS_TESTS = true

staticconstexpr

ENABLE_HARDWARE_CTRL_TESTS

constexpr bool ENABLE_HARDWARE_CTRL_TESTS = true

staticconstexpr

ENABLE_INITIALIZATION_TESTS

constexpr bool ENABLE_INITIALIZATION_TESTS = true

staticconstexpr

ENABLE_SENSOR_CONTROL_TESTS

constexpr bool ENABLE_SENSOR_CONTROL_TESTS = true

staticconstexpr

ENABLE_THREAD_SAFETY_TESTS

constexpr bool ENABLE_THREAD_SAFETY_TESTS = true

staticconstexpr

g_handler

std::unique_ptr<Bno08xHandler> g_handler

static

g_int_gpio

std::unique_ptr<EspGpio> g_int_gpio

static

g_rst_gpio

std::unique_ptr<EspGpio> g_rst_gpio

static

g_test_results

TestResults g_test_results

static

TAG

const char* TAG = "BNO08x_Handler_Test"

static