from common import TestMetaWearBase from cbindings import * #from mbientlab.metawear.cbindings import * from ctypes import create_string_buffer class TestAccBmi160Config(TestMetaWearBase): def setUp(self): self.boardType= TestMetaWearBase.METAWEAR_RG_BOARD super().setUp() def test_set_odr(self): tests= [ { 'expected': [0x03, 0x03, 0x81, 0x03], 'odr': AccBmi160Odr._0_78125Hz, 'odr_name': '0.78125Hz' }, { 'expected': [0x03, 0x03, 0x82, 0x03], 'odr': AccBmi160Odr._1_5625Hz, 'odr_name': '1.5625Hz' }, { 'expected': [0x03, 0x03, 0x83, 0x03], 'odr': AccBmi160Odr._3_125Hz, 'odr_name': '3.125Hz' }, { 'expected': [0x03, 0x03, 0x84, 0x03], 'odr': AccBmi160Odr._6_25Hz, 'odr_name': '6.25Hz' }, { 'expected': [0x03, 0x03, 0x25, 0x03], 'odr': AccBmi160Odr._12_5Hz, 'odr_name': '12.5Hz' }, { 'expected': [0x03, 0x03, 0x26, 0x03], 'odr': AccBmi160Odr._25Hz, 'odr_name': '25Hz' }, { 'expected': [0x03, 0x03, 0x27, 0x03], 'odr': AccBmi160Odr._50Hz, 'odr_name': '50Hz' }, { 'expected': [0x03, 0x03, 0x28, 0x03], 'odr': AccBmi160Odr._100Hz, 'odr_name': '100Hz' }, { 'expected': [0x03, 0x03, 0x29, 0x03], 'odr': AccBmi160Odr._200Hz, 'odr_name': '200Hz' }, { 'expected': [0x03, 0x03, 0x2a, 0x03], 'odr': AccBmi160Odr._400Hz, 'odr_name': '400Hz' }, { 'expected': [0x03, 0x03, 0x2b, 0x03], 'odr': AccBmi160Odr._800Hz, 'odr_name': '800Hz' }, { 'expected': [0x03, 0x03, 0x2c, 0x03], 'odr': AccBmi160Odr._1600Hz, 'odr_name': '1600Hz' } ] for test in tests: with self.subTest(odr= test['odr_name']): self.libmetawear.mbl_mw_acc_bmi160_set_odr(self.board, test['odr']) self.libmetawear.mbl_mw_acc_bosch_write_acceleration_config(self.board) print("TestAccBmi160Config \n") self.assertListEqual(self.command, test['expected']) def test_set_range(self): expected= [0x03, 0x03, 0x28, 0x0c] self.libmetawear.mbl_mw_acc_bosch_set_range(self.board, AccBoschRange._16G) self.libmetawear.mbl_mw_acc_bosch_write_acceleration_config(self.board) print("TestAccBmi160Config \n") self.assertListEqual(self.command, expected) def test_set_odr_and_range(self): expected= [0x03, 0x03, 0x29, 0x08] self.libmetawear.mbl_mw_acc_bmi160_set_odr(self.board, AccBmi160Odr._200Hz) self.libmetawear.mbl_mw_acc_bosch_set_range(self.board, AccBoschRange._8G) self.libmetawear.mbl_mw_acc_bosch_write_acceleration_config(self.board) print("TestAccBmi160Config \n") self.assertListEqual(self.command, expected) def test_enable_acceleration_sampling(self): expected= [0x03, 0x02, 0x01, 0x00] self.libmetawear.mbl_mw_acc_bosch_enable_acceleration_sampling(self.board) print("TestAccBmi160Config \n") self.assertListEqual(self.command, expected) def test_disable_acceleration_sampling(self): expected= [0x03, 0x02, 0x00, 0x01] self.libmetawear.mbl_mw_acc_bosch_disable_acceleration_sampling(self.board) print("TestAccBmi160Config \n") self.assertListEqual(self.command, expected) class TestBmi160AccelerationData(TestMetaWearBase): def setUp(self): self.boardType= TestMetaWearBase.METAWEAR_RG_BOARD super().setUp() self.accel_data_signal= self.libmetawear.mbl_mw_acc_bosch_get_acceleration_data_signal(self.board) def test_get_acceleration_data_g(self): response= create_string_buffer(b'\x03\x04\x16\xc4\x94\xa2\x2a\xd0') expected= CartesianFloat(x= -1.872, y= -2.919, z= -1.495) self.libmetawear.mbl_mw_datasignal_subscribe(self.accel_data_signal, None, self.sensor_data_handler) self.libmetawear.mbl_mw_acc_bosch_set_range(self.board, AccBoschRange._4G) self.notify_mw_char(response) print("TestBmi160AccelerationData \n") self.assertEqual(self.data_cartesian_float, expected) def test_subscribe_acceleration_data(self): expected= [0x03, 0x04, 0x01] self.libmetawear.mbl_mw_datasignal_subscribe(self.accel_data_signal, None, self.sensor_data_handler) print("TestBmi160AccelerationData \n") self.assertListEqual(self.command, expected) def test_unsubscribe_acceleration_data(self): expected= [0x03, 0x04, 0x00] self.libmetawear.mbl_mw_datasignal_unsubscribe(self.accel_data_signal) print("TestBmi160AccelerationData \n") self.assertListEqual(self.command, expected) class TestBmi160HighFreqAccData(TestMetaWearBase): def setUp(self): self.boardType= TestMetaWearBase.METAWEAR_RG_BOARD super().setUp() self.accel_data_signal= self.libmetawear.mbl_mw_acc_bosch_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\x1c\x62\xb7\x53\x0d\xe9\xfd\x16\xd0\x4d\x0e\x57\x02\x8a\xff\xa1\x05\x0a\x01', 20) expected_values= [CartesianFloat(x= -4.539, y= 0.833, z= -0.131), CartesianFloat(x= -2.995, y= 0.894, z= 0.146), CartesianFloat(x= -0.029, y= 0.352, z= 0.065)] self.cartesian_float_values= [] self.libmetawear.mbl_mw_datasignal_subscribe(self.accel_data_signal, None, self.sensor_data_handler) self.libmetawear.mbl_mw_acc_bosch_set_range(self.board, AccBoschRange._8G) self.notify_mw_char(response) print("TestBmi160HighFreqAccData \n") self.assertEqual(self.cartesian_float_values, expected_values) def test_subscribe(self): expected= [0x03, 0x1c, 0x01] self.libmetawear.mbl_mw_datasignal_subscribe(self.accel_data_signal, None, self.sensor_data_handler) print("TestBmi160HighFreqAccData \n") self.assertListEqual(self.command, expected) def test_unsubscribe(self): expected= [0x03, 0x1c, 0x00] self.libmetawear.mbl_mw_datasignal_unsubscribe(self.accel_data_signal) print("TestBmi160HighFreqAccData \n") self.assertListEqual(self.command, expected) class TestBmi160StepCounterSetup(TestMetaWearBase): def setUp(self): self.boardType= TestMetaWearBase.METAWEAR_RG_BOARD super().setUp() def test_set_mode(self): tests= [ { 'expected': [0x03, 0x18, 0x15, 0x0b], 'mode': AccBmi160StepCounterMode.NORMAL, 'mode_name': 'normal' }, { 'expected': [0x03, 0x18, 0x2d, 0x08], 'mode': AccBmi160StepCounterMode.SENSITIVE, 'mode_name': 'sensitive' }, { 'expected': [0x03, 0x18, 0x1d, 0x0f], 'mode': AccBmi160StepCounterMode.ROBUST, 'mode_name': 'robust' } ] for test in tests: with self.subTest(mode= test['mode_name']): self.libmetawear.mbl_mw_acc_bmi160_set_step_counter_mode(self.board, test['mode']) self.libmetawear.mbl_mw_acc_bmi160_enable_step_counter(self.board) self.libmetawear.mbl_mw_acc_bmi160_write_step_counter_config(self.board) print("TestBmi160StepCounterSetup \n") self.assertListEqual(self.command, test['expected']) class TestBmi160StepCounterData(TestMetaWearBase): def setUp(self): self.boardType= TestMetaWearBase.METAWEAR_RG_BOARD super().setUp() self.step_counter_signal= self.libmetawear.mbl_mw_acc_bmi160_get_step_counter_data_signal(self.board) def test_get_step_count_value(self): response= create_string_buffer(b'\x03\x9a\x2b\x00', 4) expected= 43 self.libmetawear.mbl_mw_datasignal_subscribe(self.step_counter_signal, None, self.sensor_data_handler) self.notify_mw_char(response) print("TestBmi160StepCounterData \n") self.assertEqual(self.data_uint32.value, expected) def test_read_step_counter(self): expected= [0x03, 0x9a] self.libmetawear.mbl_mw_datasignal_subscribe(self.step_counter_signal, None, self.sensor_data_handler) self.libmetawear.mbl_mw_datasignal_read(self.step_counter_signal) print("TestBmi160StepCounterData \n") self.assertListEqual(self.command, expected) def test_read_step_counter_silent(self): expected= [0x03, 0xda] self.libmetawear.mbl_mw_datasignal_read(self.step_counter_signal) print("TestBmi160StepCounterData \n") self.assertListEqual(self.command, expected) class TestBmi160StepDetectorData(TestMetaWearBase): def setUp(self): self.boardType= TestMetaWearBase.METAWEAR_RG_BOARD super().setUp() self.step_detector_signal= self.libmetawear.mbl_mw_acc_bmi160_get_step_detector_data_signal(self.board) def test_subscribe_detector(self): expected= [0x3, 0x19, 0x1] self.libmetawear.mbl_mw_datasignal_subscribe(self.step_detector_signal, None, self.sensor_data_handler) print("TestBmi160StepDetectorData \n") self.assertEqual(self.command, expected) def test_unsubscribe_detector(self): expected= [0x3, 0x19, 0x0] self.libmetawear.mbl_mw_datasignal_unsubscribe(self.step_detector_signal, self.sensor_data_handler) print("TestBmi160StepDetectorData \n") self.assertEqual(self.command, expected) def test_enable_detector(self): expected= [0x03, 0x17, 0x01, 0x00] self.libmetawear.mbl_mw_acc_bmi160_enable_step_detector(self.board) print("TestBmi160StepDetectorData \n") self.assertEqual(self.command, expected) def test_disable_detector(self): expected= [0x03, 0x17, 0x00, 0x01] self.libmetawear.mbl_mw_acc_bmi160_disable_step_detector(self.board) print("TestBmi160StepDetectorData \n") self.assertEqual(self.command, expected) def test_get_detection(self): response= create_string_buffer(b'\x03\x19\x01') expected= 1 self.libmetawear.mbl_mw_datasignal_subscribe(self.step_detector_signal, None, self.sensor_data_handler) self.notify_mw_char(response) print("TestBmi160StepDetectorData \n") self.assertEqual(self.data_uint32.value, expected)