✅ (functional): Add imu functional tests

tests/functional/CMakeLists.txt

@@ -39,6 +39,7 @@ endfunction()
 
 add_subdirectory(${TESTS_FUNCTIONAL_TESTS_DIR}/boost_ut)
 
+add_subdirectory(${TESTS_FUNCTIONAL_TESTS_DIR}/imu)
 add_subdirectory(${TESTS_FUNCTIONAL_TESTS_DIR}/io_expander)
 add_subdirectory(${TESTS_FUNCTIONAL_TESTS_DIR}/file_manager)
 add_subdirectory(${TESTS_FUNCTIONAL_TESTS_DIR}/qdac)

tests/functional/tests/imu/CMakeLists.txt

@@ -0,0 +1,17 @@
+# Leka - LekaOS
+# Copyright 2022 APF France handicap
+# SPDX-License-Identifier: Apache-2.0
+
+register_functional_test(
+	TARGET
+		functional_ut_imu
+
+	INCLUDE_DIRECTORIES
+
+	SOURCES
+		suite_lsm6dsox.cpp
+
+	LINK_LIBRARIES
+		CoreI2C
+		CoreIMU
+)

tests/functional/tests/imu/suite_lsm6dsox.cpp

@@ -0,0 +1,67 @@
+// Leka - LekaOS
+// Copyright 2022 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#include "CoreI2C.h"
+#include "CoreLSM6DSOX.h"
+#include "ThisThread.h"
+#include "tests/config.h"
+
+using namespace leka;
+using namespace std::chrono;
+using namespace boost::ut;
+
+suite suite_lsm6dsox = [] {
+	auto i2c	  = CoreI2C(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
+	auto lsm6dsox = CoreLSM6DSOX {i2c};
+	lsm6dsox.init();
+	auto default_min_bound_az = 800.f;
+	auto default_max_bound_az = 1200.f;
+
+	"Initialization"_test = [&] { expect(neq(&lsm6dsox, nullptr)); };
+
+	"Get imu data "_test = [&] {
+		auto data = lsm6dsox.getData();
+		expect(data.xl.x != 0.f) << "Null acceleration on X axis ";
+		expect(data.xl.y != 0.f) << "Null acceleration on Y axis ";
+		expect(data.xl.z >= default_min_bound_az) << "Acceleration on Z axis:" << data.xl.z << "axis too low";
+		expect(data.xl.z <= default_max_bound_az) << "Acceleration on Z axis:" << data.xl.z << "axis too high";
+		expect(data.gy.x != 0.f) << "Null angular speed on X axis ";
+		expect(data.gy.y != 0.f) << "Null angular speed on Y axis ";
+		expect(data.gy.x != 0.f) << "Null angular speed on Z axis ";
+	};
+
+	"Turn off lsm6dsox"_test = [&] {
+		lsm6dsox.turnOff();
+		auto data = lsm6dsox.getData();
+		rtos::ThisThread::sleep_for(40ms);
+		auto current_data = lsm6dsox.getData();
+		expect(data.xl.x == current_data.xl.x) << "Lsm6dsox not turned off " << data.xl.x << "!=" << current_data.xl.x;
+		expect(data.xl.y == current_data.xl.y) << "Lsm6dsox not turned off " << data.xl.y << "!=" << current_data.xl.y;
+		expect(data.xl.z == current_data.xl.z) << "Lsm6dsox not turned off " << data.xl.z << "!=" << current_data.xl.z;
+		expect(data.gy.x == current_data.gy.x) << "Lsm6dsox not turned off " << data.gy.x << "!=" << current_data.gy.x;
+		expect(data.gy.y == current_data.gy.y) << "Lsm6dsox not turned off " << data.gy.y << "!=" << current_data.gy.y;
+		expect(data.gy.z == current_data.gy.z) << "Lsm6dsox not turned off " << data.gy.z << "!=" << current_data.gy.z;
+	};
+
+	"Assert data are different when lsm6dsox turned on "_test = [&] {
+		lsm6dsox.turnOn();
+		auto data = lsm6dsox.getData();
+		rtos::ThisThread::sleep_for(40ms);
+		auto current_data = lsm6dsox.getData();
+		expect(data.gy.z != current_data.gy.z) << "Datas are all the same " << data.gy.z << "!=" << current_data.gy.z;
+	};
+
+	"Turn on lsm6dsox after turned off "_test = [&] {
+		lsm6dsox.turnOff();
+		lsm6dsox.turnOn();
+		auto data = lsm6dsox.getData();
+		expect(data.xl.x != 0.f) << "Null acceleration on X axis ";
+		expect(data.xl.y != 0.f) << "Null acceleration on Y axis ";
+		expect(data.xl.z >= default_min_bound_az) << "Acceleration on Z axis:" << data.xl.z << "axis too low";
+		expect(data.xl.z <= default_max_bound_az) << "Acceleration on Z axis:" << data.xl.z << "axis too high";
+		expect(data.gy.x != 0.f) << "Null angular speed on X axis ";
+		expect(data.gy.y != 0.f) << "Null angular speed on Y axis ";
+		expect(data.gy.x != 0.f) << "Null angular speed on Z axis ";
+	};
+};