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test: Update generic sensor test to use new vertical decoder API

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Update the code in the generic test to work with the updated sensor
decoder API that retrieves data vertically by channel.

Signed-off-by: Tristan Honscheid <honscheid@google.com>
This commit is contained in:
Tristan Honscheid 2023-08-23 11:11:12 -06:00 • committed by Carles Cufí
commit 0bf220161b
1 changed files with 67 additions and 18 deletions
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85
tests/drivers/build_all/sensor/src/generic_test.c
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@ -8,12 +8,24 @@
#include <zephyr/drivers/emul.h>
#include <zephyr/ztest.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/drivers/sensor_data_types.h>
#include <zephyr/rtio/rtio.h>
#include <zephyr/sys/bitarray.h>
#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(generic_test);
/**
* A union of all sensor data types.
*/
union sensor_data_union {
struct sensor_three_axis_data three_axis;
struct sensor_occurrence_data occurrence;
struct sensor_q31_data q31;
struct sensor_byte_data byte;
struct sensor_uint64_data uint64;
};
/*
* Set up an RTIO context that can be shared for all sensors
*/
@ -176,36 +188,72 @@ static void run_generic_test(const struct device *dev)
/* Release the CQE */
rtio_cqe_release(&sensor_read_rtio_ctx, cqe);
enum sensor_channel channel;
sensor_frame_iterator_t fit = {0};
sensor_channel_iterator_t cit = {0};
const struct sensor_decoder_api *decoder;
int8_t shift;
q31_t q;
union sensor_data_union decoded_data;
zassert_ok(sensor_get_decoder(dev, &decoder));
/* Decode the buffer and verify all channels */
while (decoder->decode(buf, &fit, &cit, &channel, &q, 1) > 0) {
zassert_true(channel_table[channel].supported);
zassert_false(channel_table[channel].received);
channel_table[channel].received = true;
/* Loop through each channel */
for (int ch = 0; ch < ARRAY_SIZE(channel_table); ch++) {
if (!channel_table[ch].supported) {
continue;
}
zassert_ok(decoder->get_shift(buf, channel, &shift));
struct sensor_decode_context ctx =
SENSOR_DECODE_CONTEXT_INIT(decoder, buf, ch, 0);
rv = sensor_decode(&ctx, &decoded_data, 1);
zassert_equal(1, rv, "Could not decode (error %d, ch %d, iteration %d/%d)",
rv, ch, iteration + 1,
CONFIG_GENERIC_SENSOR_TEST_NUM_EXPECTED_VALS);
channel_table[ch].received = true;
/* Retrieve the actual value */
q31_t q;
int8_t shift;
switch (ch) {
/* Special handling to break out triplet samples. */
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_GYRO_X:
q = decoded_data.three_axis.readings[0].x;
shift = decoded_data.three_axis.shift;
break;
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_GYRO_Y:
q = decoded_data.three_axis.readings[0].y;
shift = decoded_data.three_axis.shift;
break;
case SENSOR_CHAN_MAGN_Z:
case SENSOR_CHAN_ACCEL_Z:
case SENSOR_CHAN_GYRO_Z:
q = decoded_data.three_axis.readings[0].z;
shift = decoded_data.three_axis.shift;
break;
/* Default case for single Q31 samples */
default:
q = decoded_data.q31.readings[0].value;
shift = decoded_data.q31.shift;
break;
}
/* Align everything to be a 64-bit Q32.32 number for comparison */
int64_t expected_shifted =
(int64_t)channel_table[channel].expected_values[iteration]
<< channel_table[channel].expected_value_shift;
(int64_t)channel_table[ch].expected_values[iteration]
<< channel_table[ch].expected_value_shift;
int64_t actual_shifted = (int64_t)q << shift;
int64_t epsilon_shifted = (int64_t)channel_table[channel].epsilon
<< channel_table[channel].expected_value_shift;
int64_t epsilon_shifted = (int64_t)channel_table[ch].epsilon
<< channel_table[ch].expected_value_shift;
zassert_within(expected_shifted, actual_shifted, epsilon_shifted,
"Expected %lld, got %lld (shift %d, ch %d, iteration %d/%d, "
"Error %lld, Epsilon %lld)",
expected_shifted, actual_shifted, shift, channel,
iteration + 1, CONFIG_GENERIC_SENSOR_TEST_NUM_EXPECTED_VALS,
expected_shifted, actual_shifted, shift, ch, iteration + 1,
CONFIG_GENERIC_SENSOR_TEST_NUM_EXPECTED_VALS,
expected_shifted - actual_shifted, epsilon_shifted);
}
@ -221,7 +269,8 @@ static void run_generic_test(const struct device *dev)
}
}
zassert_equal(0, missing_channel_count);
zassert_equal(0, missing_channel_count, "%d channel(s) not received",
missing_channel_count);
}
}