from common import TestMetaWearBase, to_string_buffer from cbindings import * #from mbientlab.metawear.cbindings import * from ctypes import create_string_buffer class TestMma8452qConfiguration(TestMetaWearBase): def test_set_odr(self): expected= [0x03, 0x03, 0x00, 0x00, 0x20, 0x00, 0x00] self.libmetawear.mbl_mw_acc_mma8452q_set_odr(self.board, AccMma8452qOdr._50Hz) self.libmetawear.mbl_mw_acc_mma8452q_write_acceleration_config(self.board) print("TestMma8452qConfiguration \n") self.assertListEqual(self.command, expected) def test_set_range(self): expected= [0x03, 0x03, 0x02, 0x00, 0x18, 0x00, 0x00] self.libmetawear.mbl_mw_acc_mma8452q_set_range(self.board, AccMma8452qRange._8G) self.libmetawear.mbl_mw_acc_mma8452q_write_acceleration_config(self.board) print("TestMma8452qConfiguration \n") self.assertListEqual(self.command, expected) def test_set_odr_and_range(self): expected= [0x03, 0x03, 0x01, 0x00, 0x10, 0x00, 0x00] self.libmetawear.mbl_mw_acc_mma8452q_set_odr(self.board, AccMma8452qOdr._200Hz) self.libmetawear.mbl_mw_acc_mma8452q_set_range(self.board, AccMma8452qRange._4G) self.libmetawear.mbl_mw_acc_mma8452q_write_acceleration_config(self.board) print("TestMma8452qConfiguration \n") self.assertListEqual(self.command, expected) def test_enable_acceleration_sampling(self): expected= [0x03, 0x02, 0x01] self.libmetawear.mbl_mw_acc_mma8452q_enable_acceleration_sampling(self.board) print("TestMma8452qConfiguration \n") self.assertListEqual(self.command, expected) def test_disable_acceleration_sampling(self): expected= [0x03, 0x02, 0x00] self.libmetawear.mbl_mw_acc_mma8452q_disable_acceleration_sampling(self.board) print("TestMma8452qConfiguration \n") self.assertListEqual(self.command, expected) class TestAccMma8452qAccelerationData(TestMetaWearBase): def setUp(self): super().setUp() self.accel_data_signal= self.libmetawear.mbl_mw_acc_mma8452q_get_acceleration_data_signal(self.board) def test_get_acceleration_data_g(self): response= create_string_buffer(b'\x03\x04\x56\xfa\x05\xf6\x18\x03', 8) expected= CartesianFloat(x= -1.450, y= -2.555, z= 0.792) self.libmetawear.mbl_mw_datasignal_subscribe(self.accel_data_signal, None, self.sensor_data_handler) self.notify_mw_char(response) print("TestAccMma8452qAccelerationData \n") self.assertEqual(self.data_cartesian_float, expected) def test_handle_data_component(self): response= create_string_buffer(b'\x03\x04\x56\xfa\x05\xf6\x18\x03', 8) tests= [ { 'expected': -1.450, 'index': Const.ACC_ACCEL_X_AXIS_INDEX, 'name': 'x-axis' }, { 'expected': -2.555, 'index': Const.ACC_ACCEL_Y_AXIS_INDEX, 'name': 'y-axis' }, { 'expected': 0.792, 'index': Const.ACC_ACCEL_Z_AXIS_INDEX, 'name': 'z-axis' } ] for test in tests: with self.subTest(odr= test['name']): acc_component = self.libmetawear.mbl_mw_datasignal_get_component(self.accel_data_signal, test['index']) self.libmetawear.mbl_mw_datasignal_subscribe(acc_component, None, self.sensor_data_handler) self.notify_mw_char(response) print("TestAccMma8452qAccelerationData \n") self.assertAlmostEqual(self.data_float.value, test['expected'], delta = 0.001) def test_stream_acceleration_data(self): expected= [0x03, 0x04, 0x01] self.libmetawear.mbl_mw_datasignal_subscribe(self.accel_data_signal, None, self.sensor_data_handler) print("TestAccMma8452qAccelerationData \n") self.assertListEqual(self.command, expected) def test_end_stream_acceleration_data(self): expected= [0x03, 0x04, 0x00] self.libmetawear.mbl_mw_datasignal_unsubscribe(self.accel_data_signal) print("TestAccMma8452qAccelerationData \n") self.assertListEqual(self.command, expected) class TestAccMma8452qHighFreqAccData(TestMetaWearBase): def setUp(self): super().setUp() self.accel_data_signal= self.libmetawear.mbl_mw_acc_mma8452q_get_packed_acceleration_data_signal(self.board) def sensorDataHandler(self, context, data): super().sensorDataHandler(context, data) self.cartesian_float_values.append(self.data_cartesian_float) def test_get_acceleration_data_g(self): response= create_string_buffer(b'\x03\x12\xdf\xed\x2b\x16\x15\xff\x7d\xfa\xed\x04\xc5\x0a\x31\xfb\xdb\xf8\x7b\xf2', 20) expected_values= [CartesianFloat(x= -4.641, y= 5.675, z= -0.235), CartesianFloat(x= -1.411, y= 1.261, z= 2.757), CartesianFloat(x= -1.231, y= -1.829, z= -3.461)] self.cartesian_float_values= [] self.libmetawear.mbl_mw_datasignal_subscribe(self.accel_data_signal, None, self.sensor_data_handler) self.notify_mw_char(response) print("TestAccMma8452qHighFreqAccData \n") self.assertEqual(self.cartesian_float_values, expected_values) def test_stream_acceleration_data(self): expected= [0x03, 0x12, 0x01] self.libmetawear.mbl_mw_datasignal_subscribe(self.accel_data_signal, None, self.sensor_data_handler) print("TestAccMma8452qHighFreqAccData \n") self.assertListEqual(self.command, expected) def test_end_stream_acceleration_data(self): expected= [0x03, 0x12, 0x00] self.libmetawear.mbl_mw_datasignal_unsubscribe(self.accel_data_signal) print("TestAccMma8452qHighFreqAccData \n") self.assertListEqual(self.command, expected) class TestOrientation(TestMetaWearBase): def test_enable(self): expected= [ [0x03, 0x09, 0x00, 0xc0, 0x0a, 0x44, 0x84], [0x03, 0x08, 0x01] ] self.libmetawear.mbl_mw_acc_mma8452q_enable_orientation_detection(self.board) print("TestOrientation \n") self.assertEqual(self.command_history, expected) def test_disable(self): expected= [ [0x03, 0x08, 0x00], [0x03, 0x09, 0x00, 0x80, 0x00, 0x44, 0x84] ] self.libmetawear.mbl_mw_acc_mma8452q_disable_orientation_detection(self.board) print("TestOrientation \n") self.assertEqual(self.command_history, expected) def test_handle_response(self): tests= [ { 'expected': SensorOrientation.FACE_UP_LANDSCAPE_RIGHT, 'response': [0x03, 0x0a, 0x84], 'name': 'fulr' }, { 'expected': SensorOrientation.FACE_UP_PORTRAIT_UPRIGHT, 'response': [0x03, 0x0a, 0x80], 'name': 'fupu' }, { 'expected': SensorOrientation.FACE_UP_PORTRAIT_UPSIDE_DOWN, 'response': [0x03, 0x0a, 0x82], 'name': 'fupd' }, { 'expected': SensorOrientation.FACE_UP_LANDSCAPE_LEFT, 'response': [0x03, 0x0a, 0x86], 'name': 'full' }, { 'expected': SensorOrientation.FACE_DOWN_LANDSCAPE_RIGHT, 'response': [0x03, 0x0a, 0x85], 'name': 'fdlr' }, { 'expected': SensorOrientation.FACE_DOWN_LANDSCAPE_LEFT, 'response': [0x03, 0x0a, 0x87], 'name': 'fdll' }, { 'expected': SensorOrientation.FACE_DOWN_PORTRAIT_UPRIGHT, 'response': [0x03, 0x0a, 0x81], 'name': 'fdpu' }, { 'expected': SensorOrientation.FACE_DOWN_PORTRAIT_UPSIDE_DOWN, 'response': [0x03, 0x0a, 0x03], 'name': 'fdpd' } ] for test in tests: with self.subTest(odr= test['name']): orientation = self.libmetawear.mbl_mw_acc_mma8452q_get_orientation_detection_data_signal(self.board) self.libmetawear.mbl_mw_datasignal_subscribe(orientation, None, self.sensor_data_handler) self.notify_mw_char(to_string_buffer(test['response'])) print("TestOrientation \n") self.assertEqual(self.data_int32.value, test['expected']) class TestHighPassFilter(TestMetaWearBase): ODR = [ AccMma8452qOdr._800Hz, AccMma8452qOdr._400Hz, AccMma8452qOdr._200Hz, AccMma8452qOdr._100Hz, AccMma8452qOdr._50Hz, AccMma8452qOdr._12_5Hz, AccMma8452qOdr._6_25Hz, AccMma8452qOdr._1_56Hz ] ODR_MASKS = [ 0x0, 0x8, 0x10, 0x18, 0x20, 0x28, 0x30, 0x38 ] def test_configure_normal(self): params = [ [[18.0, 15.9, 12.0, 3.125, 1.625, 2.125, 2.0, 1.5625], 0 ], [[10.0, 7.9, 5.75, 2.125, 1.375, 1.25, 0.9, 0.75], 1], [[5.0, 3.9, 1.75, 1.125, 0.375, 0.6, 0.74, 0.4], 2 ], [[2.75, 1.9, 0.75, 0.125, 0.374, 0.3, 0.20, 0.1], 3] ] tests = [] for dr in TestHighPassFilter.ODR: for p in params: tests.append({ 'odr': dr, 'cutoffs': p[0], 'mask': p[1] }) for test in tests: with self.subTest(odr= test['odr']): self.libmetawear.mbl_mw_acc_mma8452q_set_odr(self.board, test['odr']) self.libmetawear.mbl_mw_acc_mma8452q_set_high_pass_cutoff(self.board, test['cutoffs'][test['odr']]) self.libmetawear.mbl_mw_acc_mma8452q_write_acceleration_config(self.board) print("TestHighPassFilter \n") self.assertEqual(self.command, [0x03, 0x03, 0x10, test['mask'], TestHighPassFilter.ODR_MASKS[test['odr']], 0x00, 0x00])