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

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 <[email protected]>

tests/drivers/build_all/sensor/src/generic_test.c

@@ -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);
 	}
 }