Michal
/
Prusa-Firmware-MMU
mirror of https://github.com/prusa3d/Prusa-Firmware-MMU
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Add basic unit test infrastructure for application + registers

pull/196/head
D.R.racer 2022-08-11 08:03:22 +02:00 committed by DRracer
parent fdb2058d2b
commit 89fc176955
11 changed files with 150 additions and 51 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

40
src/application.cpp
View File

@ -95,10 +95,8 @@ mp::ResponseCommandStatus Application::RunningCommandStatus() const {
}
}
static constexpr const uint8_t maxMsgLen = 10;
void Application::ReportCommandAccepted(const mp::RequestMsg &rq, mp::ResponseMsgParamCodes status) {
uint8_t tmp[maxMsgLen];
uint8_t tmp[mp::Protocol::MaxResponseSize()];
uint8_t len = protocol.EncodeResponseCmdAR(rq, status, tmp);
modules::serial::WriteToUSART(tmp, len);
}
@ -153,47 +151,19 @@ void Application::ReportFINDA(const mp::RequestMsg &rq) {
hu::usart1.puts(" NOT TRIGGERED\n");
}
#endif //DEBUG_FINDA
uint8_t rsp[maxMsgLen];
uint8_t rsp[mp::Protocol::MaxResponseSize()];
uint8_t len = protocol.EncodeResponseReadFINDA(rq, mf::finda.Pressed(), rsp);
modules::serial::WriteToUSART(rsp, len);
}
//void Application::ReportVersion(const mp::RequestMsg &rq) {
// uint8_t v = 0;
// switch (rq.value) {
// case 0:
// v = project_version_major;
// break;
// case 1:
// v = project_version_minor;
// break;
// case 2:
// v = project_version_revision;
// break;
// case 3:
// // @@TODO may be allow reporting uint16_t number of errors,
// // but anything beyond 255 errors means there is something seriously wrong with the MMU
// v = mg::globals.DriveErrors();
// break;
// default:
// v = 0;
// break;
// }
// uint8_t rsp[10];
// uint8_t len = protocol.EncodeResponseVersion(rq, v, rsp);
// modules::serial::WriteToUSART(rsp, len);
//}
void Application::ReportRunningCommand() {
uint8_t rsp[maxMsgLen];
uint8_t rsp[mp::Protocol::MaxResponseSize()];
uint8_t len = protocol.EncodeResponseQueryOperation(currentCommandRq, RunningCommandStatus(), rsp);
modules::serial::WriteToUSART(rsp, len);
}
void Application::ReportReadRegister(const mp::RequestMsg &rq) {
uint8_t rsp[maxMsgLen];
uint8_t rsp[mp::Protocol::MaxResponseSize()];
uint16_t value2;
bool accepted = ReadRegister(rq.value, value2);
uint8_t len = protocol.EncodeResponseRead(rq, accepted, value2, rsp);
@ -201,7 +171,7 @@ void Application::ReportReadRegister(const mp::RequestMsg &rq) {
}
void Application::ReportWriteRegister(const mp::RequestMsg &rq) {
uint8_t rsp[maxMsgLen];
uint8_t rsp[mp::Protocol::MaxResponseSize()];
mp::ResponseMsgParamCodes ar = WriteRegister(rq.value, rq.value2) ? mp::ResponseMsgParamCodes::Accepted : mp::ResponseMsgParamCodes::Rejected;
uint8_t len = protocol.EncodeResponseCmdAR(rq, ar, rsp);
modules::serial::WriteToUSART(rsp, len);

3
src/application.h
View File

@ -26,7 +26,9 @@ public:
uint8_t CurrentProgressCode();
uint16_t CurrentErrorCode();
#ifndef UNITTEST
private:
#endif
/// Checks if the MMU can enter manual mode (user can move the selector with buttons)
/// The MMU enters idle mode after 5s from the last command finished and there must be no filament present in the selector.
void CheckManualOperation();
@ -40,7 +42,6 @@ private:
mp::ResponseCommandStatus RunningCommandStatus() const;
void ReportCommandAccepted(const mp::RequestMsg &rq, mp::ResponseMsgParamCodes status);
void ReportFINDA(const mp::RequestMsg &rq);
void ReportVersion(const mp::RequestMsg &rq);
void ReportRunningCommand();
void ReportReadRegister(const mp::RequestMsg &rq);
void ReportWriteRegister(const mp::RequestMsg &rq);

4
src/modules/protocol.cpp
View File

@ -273,10 +273,6 @@ uint8_t Protocol::EncodeResponseReadFINDA(const RequestMsg &msg, uint8_t findaVa
return EncodeResponseRead(msg, true, findaValue, txbuff);
}
uint8_t Protocol::EncodeResponseVersion(const RequestMsg &msg, uint16_t value, uint8_t *txbuff) {
return EncodeResponseRead(msg, true, value, txbuff);
}
uint8_t Protocol::EncodeResponseQueryOperation(const RequestMsg &msg, ResponseCommandStatus rcs, uint8_t *txbuff) {
const ResponseMsg rsp(msg, rcs.code, rcs.value);
uint8_t i = BeginEncodeRequest(msg, txbuff);

7
src/modules/protocol.h
View File

@ -180,13 +180,6 @@ public:
/// @returns number of bytes written into txbuff
static uint8_t EncodeResponseReadFINDA(const RequestMsg &msg, uint8_t findaValue, uint8_t *txbuff);
/// Encode response to Version query
/// @param msg source request message for this response
/// @param value version number (0-255)
/// @param txbuff where to format the message
/// @returns number of bytes written into txbuff
static uint8_t EncodeResponseVersion(const RequestMsg &msg, uint16_t value, uint8_t *txbuff);
/// Encode response to Query operation status
/// @param msg source request message for this response
/// @param code status of operation (Processing, Error, Finished)

2
tests/unit/CMakeLists.txt
View File

@ -26,3 +26,5 @@ set(LOGIC_STUBS_DIR ${CMAKE_SOURCE_DIR}/tests/unit/logic/stubs)
add_subdirectory(hal)
add_subdirectory(logic)
add_subdirectory(modules)
add_subdirectory(application)

57
tests/unit/application/CMakeLists.txt Normal file
View File

@ -0,0 +1,57 @@
# define the test executable
add_executable(
application_tests
${CMAKE_SOURCE_DIR}/src/registers.cpp
${CMAKE_SOURCE_DIR}/src/application.cpp
${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
${CMAKE_SOURCE_DIR}/src/modules/leds.cpp
${CMAKE_SOURCE_DIR}/src/modules/globals.cpp
${CMAKE_SOURCE_DIR}/src/modules/finda.cpp
${CMAKE_SOURCE_DIR}/src/modules/debouncer.cpp
${CMAKE_SOURCE_DIR}/src/modules/fsensor.cpp
${CMAKE_SOURCE_DIR}/src/modules/idler.cpp
${CMAKE_SOURCE_DIR}/src/modules/movable_base.cpp
${CMAKE_SOURCE_DIR}/src/modules/permanent_storage.cpp
${CMAKE_SOURCE_DIR}/src/modules/protocol.cpp
${CMAKE_SOURCE_DIR}/src/modules/pulley.cpp
${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
${MODULES_STUBS_DIR}/stub_adc.cpp
${MODULES_STUBS_DIR}/stub_cpu.cpp
${MODULES_STUBS_DIR}/stub_eeprom.cpp
${MODULES_STUBS_DIR}/stub_gpio.cpp
${MODULES_STUBS_DIR}/stub_shr16.cpp
${MODULES_STUBS_DIR}/stub_serial.cpp
${MODULES_STUBS_DIR}/stub_timebase.cpp
${MODULES_STUBS_DIR}/stub_tmc2130.cpp
${LOGIC_STUBS_DIR}/homing.cpp
${LOGIC_STUBS_DIR}/main_loop_stub.cpp
${LOGIC_STUBS_DIR}/stub_motion.cpp
${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
${CMAKE_SOURCE_DIR}/src/logic/command_base.cpp
${CMAKE_SOURCE_DIR}/src/logic/cut_filament.cpp
${CMAKE_SOURCE_DIR}/src/logic/load_filament.cpp
${CMAKE_SOURCE_DIR}/src/logic/move_selector.cpp
${CMAKE_SOURCE_DIR}/src/logic/no_command.cpp
${CMAKE_SOURCE_DIR}/src/logic/eject_filament.cpp
${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
${CMAKE_SOURCE_DIR}/src/logic/home.cpp
${CMAKE_SOURCE_DIR}/src/logic/set_mode.cpp
${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
${CMAKE_SOURCE_DIR}/src/logic/feed_to_bondtech.cpp
${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
test_registers.cpp
test_application.cpp
)
# define required search paths
target_include_directories(
application_tests PUBLIC ${CMAKE_SOURCE_DIR}/src ${CMAKE_SOURCE_DIR}/src/modules
${CMAKE_SOURCE_DIR}/src/hal
)
# tell build system about the test case
add_catch_test(application_tests)

13
tests/unit/application/test_application.cpp Normal file
View File

@ -0,0 +1,13 @@
#include "catch2/catch.hpp"
#include "application.h"
#include <stdint.h>
#include "../modules/stubs/stub_serial.h"
TEST_CASE("application::ReportVersion", "[application]") {
modules::serial::ClearRX();
modules::serial::ClearTX();
application.ReportReadRegister(mp::RequestMsg(mp::RequestMsgCodes::Version, 0));
REQUIRE(modules::serial::tx == "S0 A2*54\n");
}

27
tests/unit/application/test_registers.cpp Normal file
View File

@ -0,0 +1,27 @@
#include "catch2/catch.hpp"
#include "registers.h"
#include "modules/globals.h"
#include "../modules/stubs/stub_eeprom.h"
#include <stdint.h>
TEST_CASE("registers::read", "[registers]") {
uint16_t reg;
REQUIRE(ReadRegister(0, reg));
REQUIRE(reg == PROJECT_VERSION_MAJOR);
REQUIRE(ReadRegister(1, reg));
REQUIRE(reg == PROJECT_VERSION_MINOR);
REQUIRE(ReadRegister(2, reg));
REQUIRE(reg == PROJECT_VERSION_REV);
REQUIRE(ReadRegister(3, reg));
REQUIRE(reg == PROJECT_BUILD_NUMBER);
// set some MMU errors
hal::eeprom::ClearEEPROM();
REQUIRE(mg::globals.DriveErrors() == 0);
mg::globals.IncDriveErrors();
REQUIRE(ReadRegister(4, reg));
REQUIRE(reg == 1);
}

2
tests/unit/modules/protocol/test_protocol.cpp
View File

@ -246,7 +246,7 @@ TEST_CASE("protocol::EncodeResponseVersion", "[protocol]") {
for (uint32_t version = 0; version < 0xffff; ++version) {
TXBuff txbuff;
mp::ResponseMsg rsp(requestMsg, mp::ResponseMsgParamCodes::Accepted, (uint16_t)version);
uint8_t msglen = mp::Protocol::EncodeResponseVersion(requestMsg, (uint16_t)version, txbuff.data());
uint8_t msglen = mp::Protocol::EncodeResponseRead(requestMsg, true, (uint16_t)version, txbuff.data());
REQUIRE(msglen < mp::Protocol::MaxResponseSize());
std::string crc = MakeCRC(rsp.CRC());

29
tests/unit/modules/stubs/stub_serial.cpp
View File

@ -1,13 +1,36 @@
#include "serial.h"
#include "stub_serial.h"
namespace modules {
namespace serial {
bool WriteToUSART(const uint8_t *src, uint8_t len) { return false; }
SerialBuff tx;
SerialBuff rx;
bool Available() { return false; }
bool WriteToUSART(const uint8_t *src, uint8_t len) {
std::copy(src, src + len, std::back_inserter(tx));
return true;
}
uint8_t ConsumeByte() { return 0; }
bool Available() {
return !rx.empty();
}
uint8_t ConsumeByte() {
if (rx.empty())
return 0xff;
uint8_t rv = rx.front();
rx.erase(0);
return rv;
}
void ClearRX() {
rx.clear();
}
void ClearTX() {
tx.clear();
}
} // namespace serial
} // namespace modules

17
tests/unit/modules/stubs/stub_serial.h Normal file
View File

@ -0,0 +1,17 @@
#pragma once
#include <stdint.h>
#include <string>
namespace modules {
namespace serial {
using SerialBuff = std::string;
extern SerialBuff tx;
extern SerialBuff rx;
void ClearRX();
void ClearTX();
} // namespace serial
} // namespace modules