int ImuTester::run() { // Default is fail unless pass critera met m_pass = TEST_FAIL; // Register the driver int ret = m_sensor.init(); // Open the IMU sensor DevHandle h; DevMgr::getHandle(IMU_DEVICE_PATH, h); if (!h.isValid()) { DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)", IMU_DEVICE_PATH, h.getError()); m_done = true; } else { m_done = false; } while (!m_done) { ++m_read_attempts; struct imu_sensor_data data; ret = ImuSensor::getSensorData(h, data, true); if (ret == 0) { uint32_t count = data.read_counter; DF_LOG_INFO("count: %d", count); if (m_read_counter != count) { m_read_counter = count; ImuSensor::printImuValues(h, data); } } else { DF_LOG_INFO("error: unable to read the IMU sensor device."); } if (m_read_counter >= num_read_attempts) { // Done test - PASSED m_pass = TEST_PASS; m_done = true; } else if (m_read_attempts > num_read_attempts) { DF_LOG_INFO("error: unable to read the IMU sensor device."); m_done = true; } } DevMgr::releaseHandle(h); DF_LOG_INFO("Closing IMU sensor"); m_sensor.stop(); return m_pass; }