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Prusa-Firmware-MMU
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Add basic unit test infrastructure for application + registers

pull/178/head
D.R.racer 2022-08-11 08:03:22 +02:00
parent 75700c0bf5
commit b107aa05d3
11 changed files with 150 additions and 51 deletions
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40
src/application.cpp
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@ -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
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@ -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
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@ -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
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@ -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
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@ -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
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@ -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
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@ -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