Imported api v0.7.4

project_version.mk

@@ -1,4 +1,4 @@
-VERSION=0.7.0
+VERSION=0.7.4
 VERSION_MAJOR=0
 VERSION_MINOR=7
-VERSION_STEP=0
+VERSION_STEP=4

src/metawear/impl/cpp/metawearboard.cpp

@@ -179,15 +179,17 @@ const unordered_map<uint8_t, void(*)(const MblMwMetaWearBoard*, vector<uint8_t>&
     { MBL_MW_MODULE_GYRO, serialize_gyro_config },
     { MBL_MW_MODULE_AMBIENT_LIGHT, serialize_ambient_light_config },
     { MBL_MW_MODULE_COLOR_DETECTOR, serialize_colordetector_config },
-    { MBL_MW_MODULE_PROXIMITY, serialize_proximity_config }
+    { MBL_MW_MODULE_PROXIMITY, serialize_proximity_config },
+    { MBL_MW_MODULE_SENSOR_FUSION, serialize_sensor_fusion_config }
 };
 const unordered_map<uint8_t, void(*)(MblMwMetaWearBoard*, uint8_t**)> CONFIG_DESERIALIZATION = {
     { MBL_MW_MODULE_ACCELEROMETER, deserialize_accelerometer_config },
     { MBL_MW_MODULE_BAROMETER, deserialize_barometer_config },
     { MBL_MW_MODULE_GYRO, deserialize_gyro_config },
     { MBL_MW_MODULE_AMBIENT_LIGHT, deserialize_ambient_light_config },
     { MBL_MW_MODULE_COLOR_DETECTOR, deserialize_colordetector_config },
-    { MBL_MW_MODULE_PROXIMITY, deserialize_proximity_config }
+    { MBL_MW_MODULE_PROXIMITY, deserialize_proximity_config },
+    { MBL_MW_MODULE_SENSOR_FUSION, deserialize_sensor_fusion_config }
 };
 
 const uint64_t DEVICE_INFO_SERVICE_UUID_HIGH = 0x0000180a00001000;
@@ -470,8 +472,10 @@ uint8_t* mbl_mw_metawearboard_serialize(const MblMwMetaWearBoard* board, uint32_
 
         serialized_state.push_back((uint8_t)board->module_config.size());
         for (auto it : sorted_keys) {
-            serialized_state.push_back(it);
-            CONFIG_SERIALIZATION.at(it)(board, serialized_state);
+            if (CONFIG_SERIALIZATION.count(it)) {
+                serialized_state.push_back(it);
+                CONFIG_SERIALIZATION.at(it)(board, serialized_state);
+            }
         }
     }
 
@@ -560,23 +564,25 @@ int32_t mbl_mw_metawearboard_deserialize(MblMwMetaWearBoard* board, uint8_t* sta
             break;
         }
 
-        ResponseHeader header_copy(saved_event->header);
-        header_copy.disable_silent();
+        ResponseHeader live_header(saved_event->header);
+        live_header.disable_silent();
 
-        if (board->module_events.count(header_copy)) {
-            auto signal = dynamic_cast<MblMwDataSignal*>(board->module_events[saved_event->header]);
+        if (board->module_events.count(live_header)) {
+            auto signal = dynamic_cast<MblMwDataSignal*>(board->module_events[live_header]);
             signal->components.push_back(dynamic_cast<MblMwDataSignal*>(saved_event));
         } else {
-            board->module_events.emplace(header_copy, saved_event);
+            board->module_events.emplace(live_header, saved_event);
         }
     }
 
     uint8_t module_config_size= *current_addr;
     current_addr++;
     for (uint8_t i= 0; i < module_config_size; i++) {
-        auto fn= CONFIG_DESERIALIZATION.at(*current_addr);
-        current_addr++;
-        fn(board, &current_addr);
+        if (CONFIG_DESERIALIZATION.count(*current_addr)) {
+            auto fn = CONFIG_DESERIALIZATION.at(*current_addr);
+            current_addr++;
+            fn(board, &current_addr);
+        }
     }
 
     deserialize_logging(board, (format == SIGNAL_COMPONENT_SERIALIZATION_FORMAT), &current_addr);

src/metawear/sensor/cpp/sensor_fusion.cpp

@@ -97,6 +97,14 @@ void init_sensor_fusion_module(MblMwMetaWearBoard* board) {
     }
 }
 
+void serialize_sensor_fusion_config(const MblMwMetaWearBoard *board, std::vector<uint8_t>& state) {
+    SERIALIZE_MODULE_CONFIG(SensorFusionState, MBL_MW_MODULE_SENSOR_FUSION);
+}
+
+void deserialize_sensor_fusion_config(MblMwMetaWearBoard *board, uint8_t** state_stream) {
+    DESERIALIZE_MODULE_CONFIG(SensorFusionState, MBL_MW_MODULE_SENSOR_FUSION);
+}
+
 MblMwDataSignal* mbl_mw_sensor_fusion_get_data_signal(const MblMwMetaWearBoard* board, MblMwSensorFusionData data) {
     GET_DATA_SIGNAL(RESPONSE_HEADERS[data]);
 }

src/metawear/sensor/cpp/sensor_fusion_private.h

@@ -1,5 +1,9 @@
 #pragma once
 
+#include <vector>
+
 #include "metawear/core/metawearboard_fwd.h"
 
 void init_sensor_fusion_module(MblMwMetaWearBoard* board);
+void serialize_sensor_fusion_config(const MblMwMetaWearBoard *board, std::vector<uint8_t>& state);
+void deserialize_sensor_fusion_config(MblMwMetaWearBoard *board, uint8_t** state_stream);

test/test_accelerometer_bma255.py

@@ -166,3 +166,38 @@ def test_handle_data_component(self):
                 self.libmetawear.mbl_mw_connection_notify_char_changed(self.board, response.raw, len(response))
 
                 self.assertAlmostEqual(self.data_float.value, test['expected'], delta = 0.0001)
+
+class TestBma255HighFreqAccdata(TestMetaWearBase):
+    def setUp(self):
+        self.boardType= TestMetaWearBase.METAWEAR_ENV_BOARD
+
+        super().setUp()
+
+        self.accel_data_signal= self.libmetawear.mbl_mw_acc_bosch_get_high_freq_acceleration_data_signal(self.board)
+
+    def sensorDataHandler(self, data):
+        super().sensorDataHandler(data)
+
+        self.cartesian_float_values.append(self.data_cartesian_float)
+
+    def test_handle_packed_data(self):
+        response = create_string_buffer(b'\x03\x1c\x31\x26\x55\xf9\x65\x77\x39\x29\x89\xdb\xfd\x7f\x95\x3d\x61\xc1\xf1\x7f', 20)
+        expected_values = [CartesianFloat(x = 1.1935, y = -0.2084, z = 3.7311), CartesianFloat(x = 1.2882, y = -1.1395, z = 3.9996), CartesianFloat(x = 1.9244, y = -1.9569, z = 3.9982)]
+
+        self.cartesian_float_values= []
+        self.libmetawear.mbl_mw_datasignal_subscribe(self.accel_data_signal, self.sensor_data_handler)
+        self.libmetawear.mbl_mw_acc_bosch_set_range(self.board, AccelerometerBosch.FSR_4G)
+        self.libmetawear.mbl_mw_connection_notify_char_changed(self.board, response.raw, len(response))
+        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, self.sensor_data_handler)
+        self.assertListEqual(self.command, expected)
+
+    def test_unsubscribe(self):
+        expected= [0x03, 0x1c, 0x00]
+
+        self.libmetawear.mbl_mw_datasignal_unsubscribe(self.accel_data_signal)
+        self.assertListEqual(self.command, expected)

test/test_metawearboard.py

@@ -147,6 +147,112 @@ def test_timer(self):
         self.assertEqual(self.command_history[4:], expected_cmds)
 
 class TestMetaWearBoardSerialize(TestMetaWearBase):
+    motion_r_state = [
+        0x01, 
+        0x01, 0x03, 0x01, 
+        0x01, 0x35, 
+        0x19, 
+        0x01, 0x00, 0x00, 0x00, 
+        0x02, 0x00, 0x00, 0x00, 
+        0x03, 0x01, 0x01, 0x00, 
+        0x04, 0x01, 0x00, 0x04, 0x00, 0x03, 0x01, 0x02, 
+        0x05, 0x00, 0x01, 0x05, 0x03, 0x03, 0x03, 0x03, 0x01, 
+        0x06, 0x00, 0x00, 0x00, 
+        0x07, 0x00, 0x00, 0x00, 
+        0x08, 0x00, 0x00, 0x00, 
+        0x09, 0x00, 0x00, 0x01, 0x1c, 
+        0x0a, 0x00, 0x00, 0x01, 0x1c, 
+        0x0b, 0x00, 0x02, 0x05, 0x08, 0x80, 0x2b, 0x00, 0x00, 
+        0x0c, 0x00, 0x00, 0x01, 0x08, 
+        0x0d, 0x00, 0x01, 0x00, 
+        0x0f, 0x00, 0x01, 0x01, 0x08, 
+        0x10, 0xff, 0xff, 
+        0x11, 0x00, 0x03, 0x00, 
+        0x12, 0x00, 0x00, 0x00, 
+        0x13, 0x00, 0x01, 0x00, 
+        0x14, 0x00, 0x00, 0x00, 
+        0x15, 0x00, 0x01, 0x00, 
+        0x16, 0xff, 0xff, 
+        0x17, 0xff, 0xff, 
+        0x18, 0xff, 0xff, 
+        0x19, 0x00, 0x00, 0x08, 0x03, 0x00, 0x06, 0x00, 0x02, 0x00, 0x01, 0x00, 
+        0xfe, 0x00, 0x00, 0x00, 
+        0x24, 
+        0x01, 0x01, 0xff, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 
+        0x03, 0x04, 0xff, 0x00, 0x07, 0x02, 0x03, 0x02, 0x01, 0x00, 
+        0x03, 0x04, 0xff, 0x00, 0x08, 0x02, 0x01, 0x02, 0x01, 0x00, 
+        0x03, 0x04, 0xff, 0x00, 0x08, 0x02, 0x01, 0x02, 0x01, 0x02, 
+        0x03, 0x04, 0xff, 0x00, 0x08, 0x02, 0x01, 0x02, 0x01, 0x04, 
+        0x03, 0x19, 0xff, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 
+        0x03, 0x1c, 0xff, 0x00, 0x07, 0x02, 0x03, 0x02, 0x01, 0x00, 
+        0x03, 0xda, 0xff, 0x00, 0x01, 0x00, 0x01, 0x02, 0x00, 0x00, 
+        0x04, 0xc1, 0x00, 0x00, 0x02, 0x06, 0x01, 0x02, 0x01, 0x00, 
+        0x04, 0xc1, 0x01, 0x00, 0x02, 0x06, 0x01, 0x02, 0x01, 0x00, 
+        0x04, 0xc1, 0x02, 0x00, 0x02, 0x06, 0x01, 0x02, 0x01, 0x00, 
+        0x04, 0xc1, 0x03, 0x00, 0x02, 0x06, 0x01, 0x02, 0x01, 0x00, 
+        0x11, 0x0a, 0xff, 0x00, 
+        0x11, 0xcc, 0xff, 0x00, 0x0e, 0x00, 0x01, 0x03, 0x00, 0x00, 
+        0x11, 0xcc, 0xff, 0x00, 0x01, 0x00, 0x01, 0x02, 0x00, 0x01, 
+        0x11, 0xcc, 0xff, 0x00, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 
+        0x12, 0x01, 0xff, 0x00, 0x03, 0x03, 0x01, 0x04, 0x00, 0x00, 
+        0x12, 0x02, 0xff, 0x00, 0x04, 0x03, 0x01, 0x04, 0x01, 0x00, 
+        0x12, 0xc1, 0xff, 0x00, 0x03, 0x03, 0x01, 0x04, 0x00, 0x00, 
+        0x13, 0x05, 0xff, 0x00, 0x05, 0x04, 0x03, 0x02, 0x01, 0x00, 
+        0x13, 0x05, 0xff, 0x00, 0x06, 0x04, 0x01, 0x02, 0x01, 0x00, 
+        0x13, 0x05, 0xff, 0x00, 0x06, 0x04, 0x01, 0x02, 0x01, 0x02, 
+        0x13, 0x05, 0xff, 0x00, 0x06, 0x04, 0x01, 0x02, 0x01, 0x04, 
+        0x13, 0x07, 0xff, 0x00, 0x05, 0x04, 0x03, 0x02, 0x01, 0x00, 
+        0x14, 0x03, 0xff, 0x00, 0x01, 0x00, 0x01, 0x04, 0x00, 0x00, 
+        0x15, 0x05, 0xff, 0x00, 0x0c, 0x08, 0x03, 0x02, 0x01, 0x00, 
+        0x15, 0x05, 0xff, 0x00, 0x0d, 0x08, 0x01, 0x02, 0x01, 0x00, 
+        0x15, 0x05, 0xff, 0x00, 0x0d, 0x08, 0x01, 0x02, 0x01, 0x02, 
+        0x15, 0x05, 0xff, 0x00, 0x0d, 0x08, 0x01, 0x02, 0x01, 0x04, 
+        0x19, 0x04, 0xff, 0x00, 0x1a, 0x00, 0x01, 0x0d, 0x01, 0x00, 
+        0x19, 0x05, 0xff, 0x00, 0x18, 0x00, 0x01, 0x0d, 0x01, 0x00, 
+        0x19, 0x06, 0xff, 0x00, 0x18, 0x00, 0x01, 0x0d, 0x01, 0x00, 
+        0x19, 0x07, 0xff, 0x00, 0x16, 0x00, 0x04, 0x04, 0x01, 0x00, 
+        0x19, 0x08, 0xff, 0x00, 0x17, 0x00, 0x04, 0x04, 0x01, 0x00, 
+        0x19, 0x09, 0xff, 0x00, 0x19, 0x00, 0x03, 0x04, 0x01, 0x00, 
+        0x19, 0x0a, 0xff, 0x00, 0x19, 0x00, 0x03, 0x04, 0x01, 0x00, 
+        0x05, 
+        0x03, 0x28, 0x03, 0x07, 0x30, 0x81, 0x0b, 0xc0, 0x00, 0x14, 0x14, 0x14, 0x40, 0x0a, 0x18, 0x48, 0x08, 0x11, 0x00, 0x00, 
+        0x12, 0x2c, 0x00, 
+        0x13, 0x28, 0x00, 
+        0x14, 0x00, 0x03, 
+        0x19, 0x00, 0x03, 0x00, 
+        0x01, 
+        0xb2, 0xb5, 0x3b, 0x95, 0x58, 0x01, 0x00, 0x00, 0x26, 0x92, 0x00, 0x00, 0x05, 
+        0x00
+    ]
+
+
+    def setUp(self):
+        self.board= self.libmetawear.mbl_mw_metawearboard_create(byref(self.btle_connection))
+
+    def test_serialize_motion_r(self):
+        self.firmware_revision= create_string_buffer(b'1.3.1', 5)
+        self.boardType = TestMetaWearBase.METAWEAR_MOTION_R_BOARD
+        self.libmetawear.mbl_mw_metawearboard_initialize(self.board, self.initialized_fn)
+
+        state_array_size= c_uint(0)
+        state_ptr= cast(self.libmetawear.mbl_mw_metawearboard_serialize(self.board, byref(state_array_size)), POINTER(c_ubyte * state_array_size.value))
+
+        self.python_array= []
+        for i in range(0, state_array_size.value):
+            self.python_array.append(state_ptr.contents[i])
+        self.libmetawear.mbl_mw_memory_free(state_ptr)
+
+        self.maxDiff= None
+        self.assertEqual(self.python_array[0:518], TestMetaWearBoardSerialize.motion_r_state[0:518])
+
+    def test_deserialize_motion_r(self):
+        # just test that deserialization is successful
+        state_buffer= self.to_string_buffer(TestMetaWearBoardSerialize.motion_r_state)
+        self.libmetawear.mbl_mw_metawearboard_deserialize(self.board, state_buffer.raw, len(state_buffer.raw))
+
+        self.assertTrue(True)
+
+class TestMetaWearBoardTearDownSerialize(TestMetaWearBase):
     def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)