import copy from common import TestMetaWearBase from ctypes import create_string_buffer #from mbientlab.metawear.cbindings import * from cbindings import * class TestGyroBmi160Config(TestMetaWearBase): def setUp(self): self.boardType= TestMetaWearBase.METAWEAR_RG_BOARD super().setUp() def test_mbl_mw_gyro_bmi160_set_odr(self): expected= [0x13, 0x3, 0x29, 0x0] self.libmetawear.mbl_mw_gyro_bmi160_set_odr(self.board, GyroBoschOdr._200Hz) self.libmetawear.mbl_mw_gyro_bmi160_write_config(self.board) print("TestGyroBmi160Config \n") self.assertListEqual(self.command, expected) def test_mbl_mw_gyro_bmi160_set_fsr(self): expected= [0x13, 0x03, 0x28, 0x03] self.libmetawear.mbl_mw_gyro_bmi160_set_range(self.board, GyroBoschRange._250dps) self.libmetawear.mbl_mw_gyro_bmi160_write_config(self.board) print("TestGyroBmi160Config \n") self.assertListEqual(self.command, expected) def test_mbl_mw_gyro_bmi160_set_all_config(self): expected= [0x13, 0x03, 0x27, 0x04] self.libmetawear.mbl_mw_gyro_bmi160_set_odr(self.board, GyroBoschOdr._50Hz) self.libmetawear.mbl_mw_gyro_bmi160_set_range(self.board, GyroBoschRange._125dps) self.libmetawear.mbl_mw_gyro_bmi160_write_config(self.board) print("TestGyroBmi160Config \n") self.assertListEqual(self.command, expected) def test_gyro_active(self): expected= [0x13, 0x01, 0x01] self.libmetawear.mbl_mw_gyro_bmi160_start(self.board) print("TestGyroBmi160Config \n") self.assertListEqual(self.command, expected) def test_gyro_standby(self): expected= [0x13, 0x01, 0x00] self.libmetawear.mbl_mw_gyro_bmi160_stop(self.board) print("TestGyroBmi160Config \n") self.assertListEqual(self.command, expected) def test_enable_rotation_sampling(self): expected= [0x13, 0x02, 0x01, 0x00] self.libmetawear.mbl_mw_gyro_bmi160_enable_rotation_sampling(self.board) print("TestGyroBmi160Config \n") self.assertListEqual(self.command, expected) def test_disable_rotation_sampling(self): expected= [0x13, 0x02, 0x00, 0x01] self.libmetawear.mbl_mw_gyro_bmi160_disable_rotation_sampling(self.board) print("TestGyroBmi160Config \n") self.assertListEqual(self.command, expected) class TestGyroBmi160DataHandler(TestMetaWearBase): def setUp(self): self.boardType= TestMetaWearBase.METAWEAR_RG_BOARD super().setUp() self.gyro_rot_data_signal= self.libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(self.board) def test_subscribe_rotation_data(self): expected= [0x13, 0x05, 0x01] self.libmetawear.mbl_mw_datasignal_subscribe(self.gyro_rot_data_signal, None, self.sensor_data_handler) print("TestGyroBmi160DataHandler \n") self.assertListEqual(self.command, expected) def test_unsubscribe_rotation_data(self): expected= [0x13, 0x05, 0x00] self.libmetawear.mbl_mw_datasignal_unsubscribe(self.gyro_rot_data_signal) print("TestGyroBmi160DataHandler \n") self.assertListEqual(self.command, expected) def test_rotation_data_handler(self): expected= CartesianFloat(x= 262.409, y= 499.497, z= -499.512) self.libmetawear.mbl_mw_datasignal_subscribe(self.gyro_rot_data_signal, None, self.sensor_data_handler) self.libmetawear.mbl_mw_gyro_bmi160_set_range(self.board, GyroBoschRange._500dps) self.notify_mw_char(create_string_buffer(b'\x13\x05\x3e\x43\xff\x7f\x00\x80', 8)) print("TestGyroBmi160DataHandler \n") self.assertEqual(self.data_cartesian_float, expected) def test_rotation_data_component_handler(self): response= create_string_buffer(b'\x13\x05\x3e\x43\xff\x7f\x00\x80', 8) tests= [ { 'expected': 262.409, 'index': Const.GYRO_ROTATION_X_AXIS_INDEX, 'name': 'x-axis' }, { 'expected': 499.497, 'index': Const.GYRO_ROTATION_Y_AXIS_INDEX, 'name': 'y-axis' }, { 'expected': -499.512, 'index': Const.GYRO_ROTATION_Z_AXIS_INDEX, 'name': 'z-axis' } ] for test in tests: with self.subTest(odr= test['name']): rot_component = self.libmetawear.mbl_mw_datasignal_get_component(self.gyro_rot_data_signal, test['index']) self.libmetawear.mbl_mw_datasignal_subscribe(rot_component, None, self.sensor_data_handler) self.libmetawear.mbl_mw_gyro_bmi160_set_range(self.board, GyroBoschRange._500dps) self.notify_mw_char(response) print("TestGyroBmi160DataHandler \n") self.assertAlmostEqual(self.data_float.value, test['expected'], delta = 0.001) class TestGyroBmi160HighFreqDataHandler(TestMetaWearBase): def setUp(self): self.boardType= TestMetaWearBase.METAWEAR_RG_BOARD super().setUp() self.gyro_rot_data_signal= self.libmetawear.mbl_mw_gyro_bmi160_get_packed_rotation_data_signal(self.board) def sensorDataHandler(self, context, data): super().sensorDataHandler(context, data) self.cartesian_float_values.append(self.data_cartesian_float) def test_subscribe_rotation_data(self): expected= [0x13, 0x07, 0x01] self.libmetawear.mbl_mw_datasignal_subscribe(self.gyro_rot_data_signal, None, self.sensor_data_handler) print("TestGyroBmi160HighFreqDataHandler \n") self.assertListEqual(self.command, expected) def test_unsubscribe_rotation_data(self): expected= [0x13, 0x07, 0x00] self.libmetawear.mbl_mw_datasignal_unsubscribe(self.gyro_rot_data_signal) print("TestGyroBmi160HighFreqDataHandler \n") self.assertListEqual(self.command, expected) def test_rotation_data_handler(self): expected_values= [CartesianFloat(x= 164.177, y= 301.860, z= -265.122), CartesianFloat(x= 207.134, y= 296.982, z= -215.457), CartesianFloat(x= 254.055, y= 309.634, z= -152.591)] self.cartesian_float_values= [] self.libmetawear.mbl_mw_datasignal_subscribe(self.gyro_rot_data_signal, None, self.sensor_data_handler) self.libmetawear.mbl_mw_gyro_bmi160_set_range(self.board, GyroBoschRange._1000dps) self.notify_mw_char(create_string_buffer(b'\x13\x07\x09\x15\xad\x26\x08\xde\x8a\x1a\x0d\x26\x65\xe4\x8d\x20\xac\x27\x73\xec', 20)) print("TestGyroBmi160HighFreqDataHandler \n") self.assertEqual(self.cartesian_float_values, expected_values)