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Prusa-Firmware-MMU
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Merge pull request #10 from DRracer/protocol-codec 

Protocol implementation
pull/14/head
DRracer 2021-05-19 08:20:18 +02:00 committed by GitHub
parent c51067f197 6ebb281eda
commit fc6fc5b2ca
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 823 additions and 46 deletions
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70
CMakeLists.txt
View File

@ -98,17 +98,6 @@ if(CUSTOM_COMPILE_OPTIONS)
add_compile_options(${CUSTOM_COMPILE_OPTIONS}) add_compile_options(${CUSTOM_COMPILE_OPTIONS})
endif() endif()
#
# MMUHeaders
#
# add_library(MMUHeaders INTERFACE) target_include_directories( MMUHeaders INTERFACE include
# include/stm32f4_hal include/usb_host include/usb_device include/marlin include/freertos )
# target_link_libraries(A3idesHeaders INTERFACE STM32F4::HAL FreeRTOS::FreeRTOS)
# target_compile_definitions( A3idesHeaders INTERFACE PRINTER_TYPE=PRINTER_PRUSA_${PRINTER} )
# #
# Global Compiler & Linker Configuration # Global Compiler & Linker Configuration
# #
@ -117,13 +106,13 @@ endif()
add_compile_options(-g) add_compile_options(-g)
# optimizations # optimizations
if(CMAKE_BUILD_TYPE STREQUAL "Debug")
add_compile_options(-Og)
else()
add_compile_options(-Os)
endif()
if(CMAKE_CROSSCOMPILING) if(CMAKE_CROSSCOMPILING)
if(CMAKE_BUILD_TYPE STREQUAL "Debug")
add_compile_options(-Og)
else()
add_compile_options(-Os)
endif()
# mcu related settings # mcu related settings
set(MCU_FLAGS -mmcu=atmega32u4 -DF_CPU=16000000L) set(MCU_FLAGS -mmcu=atmega32u4 -DF_CPU=16000000L)
add_compile_options(${MCU_FLAGS}) add_compile_options(${MCU_FLAGS})
@ -136,6 +125,12 @@ if(CMAKE_CROSSCOMPILING)
# disable exceptions and related metadata # disable exceptions and related metadata
add_compile_options(-fno-exceptions -fno-unwind-tables) add_compile_options(-fno-exceptions -fno-unwind-tables)
add_link_options(-Wl,--defsym,__exidx_start=0,--defsym,__exidx_end=0) add_link_options(-Wl,--defsym,__exidx_start=0,--defsym,__exidx_end=0)
else()
if(CMAKE_BUILD_TYPE STREQUAL "Debug")
add_compile_options(-O0)
else()
add_compile_options(-O2)
endif()
endif() endif()
# enable all warnings (well, not all, but some) # enable all warnings (well, not all, but some)
@ -165,18 +160,34 @@ add_executable(firmware)
set_target_properties(firmware PROPERTIES CXX_STANDARD 14) set_target_properties(firmware PROPERTIES CXX_STANDARD 14)
# generate firmware.bin file if(CMAKE_CROSSCOMPILING)
objcopy(firmware "ihex" ".hex") # generate firmware.bin file
objcopy(firmware "ihex" ".hex")
add_custom_command(TARGET firmware POST_BUILD COMMAND avr-objdump ARGS -CSd firmware > firmware.txt) # produce ASM listing
add_custom_command(
TARGET firmware POST_BUILD COMMAND avr-objdump ARGS -CSd firmware > firmware.asm
)
add_custom_command(TARGET firmware POST_BUILD COMMAND avr-size ARGS -C --mcu=atmega32u4 firmware) # inform about the firmware's size in terminal
add_custom_command(TARGET firmware POST_BUILD COMMAND avr-size ARGS -C --mcu=atmega32u4 firmware)
report_size(firmware)
# generate linker map file # generate linker map file
target_link_options(firmware PUBLIC -Wl,-Map=firmware.map) target_link_options(firmware PUBLIC -Wl,-Map=firmware.map)
# inform about the firmware's size in terminal target_sources(firmware PRIVATE src/main.cpp src/hal/avr/cpu.cpp src/modules/protocol.cpp)
report_size(firmware)
else()
enable_testing()
add_subdirectory(tests)
# TODO - still need to decide about the dummy_main.cpp - for unit tests it should not be necessary
# to make a separate main.cpp file
target_sources(
firmware PRIVATE tests/unit/dummy_main.cpp src/hal/avr/cpu.cpp src/modules/protocol.cpp
)
endif()
# add_link_dependency(firmware "${LINKER_SCRIPT}") # add_link_dependency(firmware "${LINKER_SCRIPT}")
@ -184,10 +195,6 @@ target_include_directories(firmware PRIVATE include src)
target_compile_options(firmware PRIVATE -Wdouble-promotion) target_compile_options(firmware PRIVATE -Wdouble-promotion)
# target_link_libraries( firmware PRIVATE A3idesHeaders )
target_sources(firmware PRIVATE src/main.cpp src/hal/avr/cpu.cpp)
set_property( set_property(
SOURCE src/version.c SOURCE src/version.c
APPEND APPEND
@ -198,8 +205,3 @@ set_property(
FW_VERSION_SUFFIX=${PROJECT_VERSION_SUFFIX} FW_VERSION_SUFFIX=${PROJECT_VERSION_SUFFIX}
FW_VERSION_SUFFIX_SHORT=${PROJECT_VERSION_SUFFIX_SHORT} FW_VERSION_SUFFIX_SHORT=${PROJECT_VERSION_SUFFIX_SHORT}
) )
if(NOT CMAKE_CROSSCOMPILING)
enable_testing()
add_subdirectory(tests)
endif()

221
src/modules/protocol.cpp Normal file
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@ -0,0 +1,221 @@
#include "protocol.h"
// protocol definition
// command: Q0
// meaning: query operation status
// Query/command: query
// Expected reply from the MMU:
// any of the running operation statuses: OID: [T|L|U|E|C|W|K][0-4]
// <OID> P[0-9] : command being processed i.e. operation running, may contain a state number
// <OID> E[0-9][0-9] : error 1-9 while doing a tool change
// <OID> F : operation finished - will be repeated to "Q" messages until a new command is issued
namespace modules {
// decoding automaton
// states: input -> transition into state
// Code QTLMUXPSBEWK -> msgcode
// \n ->start
// * ->error
// error \n ->start
// * ->error
// msgcode 0-9 ->msgvalue
// * ->error
// msgvalue 0-9 ->msgvalue
// \n ->start successfully accepted command
Protocol::DecodeStatus Protocol::DecodeRequest(uint8_t c) {
switch (rqState) {
case RequestStates::Code:
switch (c) {
case 'Q':
case 'T':
case 'L':
case 'M':
case 'U':
case 'X':
case 'P':
case 'S':
case 'B':
case 'E':
case 'W':
case 'K':
requestMsg.code = (RequestMsgCodes)c;
requestMsg.value = 0;
rqState = RequestStates::Value;
return DecodeStatus::NeedMoreData;
default:
requestMsg.code = RequestMsgCodes::unknown;
rqState = RequestStates::Error;
return DecodeStatus::Error;
}
case RequestStates::Value:
if (c >= '0' && c <= '9') {
requestMsg.value *= 10;
requestMsg.value += c - '0';
return DecodeStatus::NeedMoreData;
} else if (c == '\n') {
rqState = RequestStates::Code;
return DecodeStatus::MessageCompleted;
} else {
requestMsg.code = RequestMsgCodes::unknown;
rqState = RequestStates::Error;
return DecodeStatus::Error;
}
default: //case error:
if (c == '\n') {
rqState = RequestStates::Code;
return DecodeStatus::MessageCompleted;
} else {
requestMsg.code = RequestMsgCodes::unknown;
rqState = RequestStates::Error;
return DecodeStatus::Error;
}
}
}
uint8_t Protocol::EncodeRequest(const RequestMsg &msg, uint8_t *txbuff) {
txbuff[0] = (uint8_t)msg.code;
txbuff[1] = msg.value + '0';
txbuff[2] = '\n';
return 3;
}
Protocol::DecodeStatus Protocol::DecodeResponse(uint8_t c) {
switch (rspState) {
case ResponseStates::RequestCode:
switch (c) {
case 'Q':
case 'T':
case 'L':
case 'M':
case 'U':
case 'X':
case 'P':
case 'S':
case 'B':
case 'E':
case 'W':
case 'K':
responseMsg.request.code = (RequestMsgCodes)c;
responseMsg.request.value = 0;
rspState = ResponseStates::RequestValue;
return DecodeStatus::NeedMoreData;
default:
rspState = ResponseStates::Error;
return DecodeStatus::Error;
}
case ResponseStates::RequestValue:
if (c >= '0' && c <= '9') {
responseMsg.request.value *= 10;
responseMsg.request.value += c - '0';
return DecodeStatus::NeedMoreData;
} else if (c == ' ') {
rspState = ResponseStates::ParamCode;
return DecodeStatus::NeedMoreData;
} else {
rspState = ResponseStates::Error;
return DecodeStatus::Error;
}
case ResponseStates::ParamCode:
switch (c) {
case 'P':
case 'E':
case 'F':
case 'A':
case 'R':
rspState = ResponseStates::ParamValue;
responseMsg.paramCode = (ResponseMsgParamCodes)c;
responseMsg.paramValue = 0;
return DecodeStatus::NeedMoreData;
default:
responseMsg.paramCode = ResponseMsgParamCodes::unknown;
rspState = ResponseStates::Error;
return DecodeStatus::Error;
}
case ResponseStates::ParamValue:
if (c >= '0' && c <= '9') {
responseMsg.paramValue *= 10;
responseMsg.paramValue += c - '0';
return DecodeStatus::NeedMoreData;
} else if (c == '\n') {
rspState = ResponseStates::RequestCode;
return DecodeStatus::MessageCompleted;
} else {
responseMsg.paramCode = ResponseMsgParamCodes::unknown;
rspState = ResponseStates::Error;
return DecodeStatus::Error;
}
default: //case error:
if (c == '\n') {
rspState = ResponseStates::RequestCode;
return DecodeStatus::MessageCompleted;
} else {
responseMsg.paramCode = ResponseMsgParamCodes::unknown;
return DecodeStatus::Error;
}
}
}
uint8_t Protocol::EncodeResponseCmdAR(const RequestMsg &msg, ResponseMsgParamCodes ar, uint8_t *txbuff) {
txbuff[0] = (uint8_t)msg.code;
txbuff[1] = msg.value + '0';
txbuff[2] = ' ';
txbuff[3] = (uint8_t)ar;
txbuff[4] = '\n';
return 5;
}
uint8_t Protocol::EncodeResponseReadFINDA(const RequestMsg &msg, uint8_t findaValue, uint8_t *txbuff) {
txbuff[0] = (uint8_t)msg.code;
txbuff[1] = msg.value + '0';
txbuff[2] = ' ';
txbuff[3] = (uint8_t)ResponseMsgParamCodes::Accepted;
txbuff[4] = findaValue + '0';
txbuff[5] = '\n';
return 6;
}
uint8_t Protocol::EncodeResponseVersion(const RequestMsg &msg, uint8_t value, uint8_t *txbuff) {
txbuff[0] = (uint8_t)msg.code;
txbuff[1] = msg.value + '0';
txbuff[2] = ' ';
txbuff[3] = (uint8_t)ResponseMsgParamCodes::Accepted;
uint8_t *dst = txbuff + 4;
if (value < 10) {
*dst++ = value + '0';
} else if (value < 100) {
*dst++ = value / 10 + '0';
*dst++ = value % 10 + '0';
} else {
*dst++ = value / 100 + '0';
*dst++ = (value / 10) % 10 + '0';
*dst++ = value % 10 + '0';
}
*dst = '\n';
return dst - txbuff + 1;
}
uint8_t Protocol::EncodeResponseQueryOperation(const RequestMsg &msg, ResponseMsgParamCodes code, uint8_t value, uint8_t *txbuff) {
txbuff[0] = (uint8_t)msg.code;
txbuff[1] = msg.value + '0';
txbuff[2] = ' ';
txbuff[3] = (uint8_t)code;
uint8_t *dst = txbuff + 4;
if (code != ResponseMsgParamCodes::Finished) {
if (value < 10) {
*dst++ = value + '0';
} else if (value < 100) {
*dst++ = value / 10 + '0';
*dst++ = value % 10 + '0';
} else {
*dst++ = value / 100 + '0';
*dst++ = (value / 10) % 10 + '0';
*dst++ = value % 10 + '0';
}
}
*dst = '\n';
return dst - txbuff + 1;
}
} // namespace modules

134
src/modules/protocol.h
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@ -1,27 +1,143 @@
#pragma once #pragma once
#include <stdint.h>
/// MMU protocol implementation /// MMU protocol implementation
/// See description of the new protocol in the MMU 2021 doc /// See description of the new protocol in the MMU 2021 doc
/// @@TODO possibly add some checksum to verify the correctness of messages /// @@TODO possibly add some checksum to verify the correctness of messages
namespace modules { namespace modules {
/// @@TODO define/improve this simple message structure that fits our domain enum class RequestMsgCodes : uint8_t {
struct Msg { unknown = 0,
uint8_t code; Query = 'Q',
Tool = 'T',
Load = 'L',
Mode = 'M',
Unload = 'U',
Reset = 'X',
Finda = 'P',
Version = 'S',
Button = 'B',
Eject = 'E',
Wait = 'W',
Cut = 'K'
};
enum class ResponseMsgParamCodes : uint8_t {
unknown = 0,
Processing = 'P',
Error = 'E',
Finished = 'F',
Accepted = 'A',
Rejected = 'R'
};
/// A request message
/// Requests are being sent by the printer into the MMU
/// It is the same structure as the generic Msg
struct RequestMsg {
RequestMsgCodes code;
uint8_t value; uint8_t value;
inline RequestMsg(RequestMsgCodes code, uint8_t value)
: code(code)
, value(value) {}
};
/// A response message
/// Responses are being sent from the MMU into the printer as a response to a request message
struct ResponseMsg {
RequestMsg request; ///< response is always preceeded by the request message
ResponseMsgParamCodes paramCode; ///< parameters of reply
uint8_t paramValue; ///< parameters of reply
inline ResponseMsg(RequestMsg request, ResponseMsgParamCodes paramCode, uint8_t paramValue)
: request(request)
, paramCode(paramCode)
, paramValue(paramValue) {}
}; };
/// Protocol class is responsible for creating/decoding messages in Rx/Tx buffer /// Protocol class is responsible for creating/decoding messages in Rx/Tx buffer
/// Beware - in the decoding more, it is meant to be a statefull instance which works through public methods
/// processing one input byte per call
class Protocol { class Protocol {
public: public:
/// Decodes message in rxbuff /// Message decoding return value
/// @returns decoded message structure enum class DecodeStatus : uint_fast8_t {
Msg Decode(const uint8_t *rxbuff); MessageCompleted, ///< message completed and successfully lexed
/// Encodes message msg into txbuff memory NeedMoreData, ///< message incomplete yet, waiting for another byte to come
Error, ///< input character broke message decoding
};
inline Protocol()
: rqState(RequestStates::Code)
, requestMsg(RequestMsgCodes::unknown, 0)
, rspState(ResponseStates::RequestCode)
, responseMsg(RequestMsg(RequestMsgCodes::unknown, 0), ResponseMsgParamCodes::unknown, 0) {
}
/// Takes the input byte c and steps one step through the state machine
/// @returns state of the message being decoded
DecodeStatus DecodeRequest(uint8_t c);
/// Decodes response message in rxbuff
/// @returns decoded response message structure
DecodeStatus DecodeResponse(uint8_t c);
/// Encodes request message msg into txbuff memory
/// It is expected the txbuff is large enough to fit the message /// It is expected the txbuff is large enough to fit the message
void Encode(uint8_t *txbuff, const Msg &msg); /// @returns number of bytes written into txbuff
static uint8_t EncodeRequest(const RequestMsg &msg, uint8_t *txbuff);
/// Encode generic response Command Accepted or Rejected
/// @param msg source request message for this response
/// @returns number of bytes written into txbuff
static uint8_t EncodeResponseCmdAR(const RequestMsg &msg, ResponseMsgParamCodes ar, uint8_t *txbuff);
/// Encode response to Read FINDA query
/// @param msg source request message for this response
/// @param findaValue 1/0 (on/off) status of FINDA
/// @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)
/// @returns number of bytes written into txbuff
static uint8_t EncodeResponseVersion(const RequestMsg &msg, uint8_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)
/// @param value related to status of operation(e.g. error code or progress)
/// @returns number of bytes written into txbuff
static uint8_t EncodeResponseQueryOperation(const RequestMsg &msg, ResponseMsgParamCodes code, uint8_t value, uint8_t *txbuff);
/// @returns the most recently lexed request message
inline const RequestMsg GetRequestMsg() const { return requestMsg; }
/// @returns the most recently lexed response message
inline const ResponseMsg GetResponseMsg() const { return responseMsg; }
private:
enum class RequestStates : uint8_t {
Code, ///< starting state - expects message code
Value, ///< expecting code value
Error ///< automaton in error state
};
RequestStates rqState;
RequestMsg requestMsg;
enum class ResponseStates : uint8_t {
RequestCode, ///< starting state - expects message code
RequestValue, ///< expecting code value
ParamCode, ///< expecting param code
ParamValue, ///< expecting param value
Error ///< automaton in error state
};
ResponseStates rspState;
ResponseMsg responseMsg;
}; };
} // namespace modules } // namespace modules

1
tests/unit/dummy_main.cpp Normal file
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@ -0,0 +1 @@
int main() {}

2
tests/unit/modules/protocol/CMakeLists.txt
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@ -1,5 +1,5 @@
# define the test executable # define the test executable
add_executable(protocol_tests test_protocol.cpp) add_executable(protocol_tests ../../../../src/modules/protocol.cpp test_protocol.cpp)
# define required search paths # define required search paths
target_include_directories(protocol_tests PUBLIC ${CMAKE_SOURCE_DIR}/src/modules) target_include_directories(protocol_tests PUBLIC ${CMAKE_SOURCE_DIR}/src/modules)

441
tests/unit/modules/protocol/test_protocol.cpp
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@ -3,6 +3,443 @@
using Catch::Matchers::Equals; using Catch::Matchers::Equals;
TEST_CASE("protocol::1", "[protocol]") { TEST_CASE("protocol::EncodeRequests", "[protocol]") {
CHECK(true); using namespace modules;
RequestMsgCodes code;
uint8_t value;
std::tie(code, value) = GENERATE(
std::make_tuple(RequestMsgCodes::Button, 0),
std::make_tuple(RequestMsgCodes::Button, 1),
std::make_tuple(RequestMsgCodes::Button, 2),
std::make_tuple(RequestMsgCodes::Cut, 0),
std::make_tuple(RequestMsgCodes::Eject, 0),
std::make_tuple(RequestMsgCodes::Finda, 0),
std::make_tuple(RequestMsgCodes::Load, 0),
std::make_tuple(RequestMsgCodes::Load, 1),
std::make_tuple(RequestMsgCodes::Load, 2),
std::make_tuple(RequestMsgCodes::Load, 3),
std::make_tuple(RequestMsgCodes::Load, 4),
std::make_tuple(RequestMsgCodes::Mode, 0),
std::make_tuple(RequestMsgCodes::Mode, 1),
std::make_tuple(RequestMsgCodes::Query, 0),
std::make_tuple(RequestMsgCodes::Reset, 0),
std::make_tuple(RequestMsgCodes::Tool, 0),
std::make_tuple(RequestMsgCodes::Tool, 1),
std::make_tuple(RequestMsgCodes::Tool, 2),
std::make_tuple(RequestMsgCodes::Tool, 3),
std::make_tuple(RequestMsgCodes::Tool, 4),
std::make_tuple(RequestMsgCodes::Unload, 0),
std::make_tuple(RequestMsgCodes::Version, 0),
std::make_tuple(RequestMsgCodes::Version, 1),
std::make_tuple(RequestMsgCodes::Version, 2),
std::make_tuple(RequestMsgCodes::Wait, 0),
std::make_tuple(RequestMsgCodes::unknown, 0));
std::array<uint8_t, 3> txbuff;
CHECK(Protocol::EncodeRequest(RequestMsg(code, value), txbuff.data()) == 3);
CHECK(txbuff[0] == (uint8_t)code);
CHECK(txbuff[1] == value + '0');
CHECK(txbuff[2] == '\n');
}
TEST_CASE("protocol::EncodeResponseCmdAR", "[protocol]") {
using namespace modules;
auto requestMsg = GENERATE(
RequestMsg(RequestMsgCodes::Button, 0),
RequestMsg(RequestMsgCodes::Button, 1),
RequestMsg(RequestMsgCodes::Button, 2),
RequestMsg(RequestMsgCodes::Cut, 0),
RequestMsg(RequestMsgCodes::Eject, 0),
RequestMsg(RequestMsgCodes::Eject, 1),
RequestMsg(RequestMsgCodes::Eject, 2),
RequestMsg(RequestMsgCodes::Eject, 3),
RequestMsg(RequestMsgCodes::Eject, 4),
RequestMsg(RequestMsgCodes::Load, 0),
RequestMsg(RequestMsgCodes::Load, 1),
RequestMsg(RequestMsgCodes::Load, 2),
RequestMsg(RequestMsgCodes::Load, 3),
RequestMsg(RequestMsgCodes::Load, 4),
RequestMsg(RequestMsgCodes::Mode, 0),
RequestMsg(RequestMsgCodes::Mode, 1),
RequestMsg(RequestMsgCodes::Tool, 0),
RequestMsg(RequestMsgCodes::Tool, 1),
RequestMsg(RequestMsgCodes::Tool, 2),
RequestMsg(RequestMsgCodes::Tool, 3),
RequestMsg(RequestMsgCodes::Tool, 4),
RequestMsg(RequestMsgCodes::Unload, 0),
RequestMsg(RequestMsgCodes::Wait, 0));
auto responseStatus = GENERATE(ResponseMsgParamCodes::Accepted, ResponseMsgParamCodes::Rejected);
std::array<uint8_t, 8> txbuff;
uint8_t msglen = Protocol::EncodeResponseCmdAR(requestMsg, responseStatus, txbuff.data());
CHECK(msglen == 5);
CHECK(txbuff[0] == (uint8_t)requestMsg.code);
CHECK(txbuff[1] == requestMsg.value + '0');
CHECK(txbuff[2] == ' ');
CHECK(txbuff[3] == (uint8_t)responseStatus);
CHECK(txbuff[4] == '\n');
}
TEST_CASE("protocol::EncodeResponseReadFINDA", "[protocol]") {
using namespace modules;
auto requestMsg = RequestMsg(RequestMsgCodes::Finda, 0);
uint8_t findaStatus = GENERATE(0, 1);
std::array<uint8_t, 8> txbuff;
uint8_t msglen = Protocol::EncodeResponseReadFINDA(requestMsg, findaStatus, txbuff.data());
CHECK(msglen == 6);
CHECK(txbuff[0] == (uint8_t)requestMsg.code);
CHECK(txbuff[1] == requestMsg.value + '0');
CHECK(txbuff[2] == ' ');
CHECK(txbuff[3] == (uint8_t)ResponseMsgParamCodes::Accepted);
CHECK(txbuff[4] == findaStatus + '0');
CHECK(txbuff[5] == '\n');
}
TEST_CASE("protocol::EncodeResponseVersion", "[protocol]") {
using namespace modules;
std::uint8_t versionQueryType = GENERATE(0, 1, 2, 3);
auto requestMsg = RequestMsg(RequestMsgCodes::Version, versionQueryType);
auto version = GENERATE(0, 1, 2, 3, 4, 10, 11, 12, 20, 99, 100, 101, 255);
std::array<uint8_t, 8> txbuff;
uint8_t msglen = Protocol::EncodeResponseVersion(requestMsg, version, txbuff.data());
CHECK(msglen <= 8);
CHECK(txbuff[0] == (uint8_t)requestMsg.code);
CHECK(txbuff[1] == requestMsg.value + '0');
CHECK(txbuff[2] == ' ');
CHECK(txbuff[3] == (uint8_t)ResponseMsgParamCodes::Accepted);
if (version < 10) {
CHECK(txbuff[4] == version + '0');
} else if (version < 100) {
CHECK(txbuff[4] == version / 10 + '0');
CHECK(txbuff[5] == version % 10 + '0');
} else {
CHECK(txbuff[4] == version / 100 + '0');
CHECK(txbuff[5] == (version / 10) % 10 + '0');
CHECK(txbuff[6] == version % 10 + '0');
}
CHECK(txbuff[msglen - 1] == '\n');
}
TEST_CASE("protocol::EncodeResponseQueryOperation", "[protocol]") {
using namespace modules;
auto requestMsg = GENERATE(
RequestMsg(RequestMsgCodes::Cut, 0),
RequestMsg(RequestMsgCodes::Eject, 0),
RequestMsg(RequestMsgCodes::Eject, 1),
RequestMsg(RequestMsgCodes::Eject, 2),
RequestMsg(RequestMsgCodes::Eject, 3),
RequestMsg(RequestMsgCodes::Eject, 4),
RequestMsg(RequestMsgCodes::Load, 0),
RequestMsg(RequestMsgCodes::Load, 1),
RequestMsg(RequestMsgCodes::Load, 2),
RequestMsg(RequestMsgCodes::Load, 3),
RequestMsg(RequestMsgCodes::Load, 4),
RequestMsg(RequestMsgCodes::Tool, 0),
RequestMsg(RequestMsgCodes::Tool, 1),
RequestMsg(RequestMsgCodes::Tool, 2),
RequestMsg(RequestMsgCodes::Tool, 3),
RequestMsg(RequestMsgCodes::Tool, 4),
RequestMsg(RequestMsgCodes::Unload, 0),
RequestMsg(RequestMsgCodes::Wait, 0));
auto responseStatus = GENERATE(ResponseMsgParamCodes::Processing, ResponseMsgParamCodes::Error, ResponseMsgParamCodes::Finished);
auto value = GENERATE(0, 1, 2, 3, 10, 11, 99, 100, 101, 102, 200, 255);
std::array<uint8_t, 8> txbuff;
uint8_t msglen = Protocol::EncodeResponseQueryOperation(requestMsg, responseStatus, value, txbuff.data());
CHECK(msglen <= 8);
CHECK(txbuff[0] == (uint8_t)requestMsg.code);
CHECK(txbuff[1] == requestMsg.value + '0');
CHECK(txbuff[2] == ' ');
CHECK(txbuff[3] == (uint8_t)responseStatus);
if (responseStatus == ResponseMsgParamCodes::Finished) {
CHECK(txbuff[4] == '\n');
CHECK(msglen == 5);
} else {
if (value < 10) {
CHECK(txbuff[4] == value + '0');
} else if (value < 100) {
CHECK(txbuff[4] == value / 10 + '0');
CHECK(txbuff[5] == value % 10 + '0');
} else {
CHECK(txbuff[4] == value / 100 + '0');
CHECK(txbuff[5] == (value / 10) % 10 + '0');
CHECK(txbuff[6] == value % 10 + '0');
}
CHECK(txbuff[msglen - 1] == '\n');
}
}
TEST_CASE("protocol::DecodeRequest", "[protocol]") {
using namespace modules;
Protocol p;
const char *rxbuff = GENERATE(
"B0\n", "B1\n", "B2\n",
"E0\n", "E1\n", "E2\n", "E3\n", "E4\n",
"K0\n",
"L0\n", "L1\n", "L2\n", "L3\n", "L4\n",
"M0\n", "M1\n",
"P0\n",
"Q0\n",
"S0\n", "S1\n", "S2\n", "S3\n",
"T0\n", "T1\n", "T2\n", "T3\n",
"U0\n",
"W0\n",
"X0\n");
const char *pc = rxbuff;
for (;;) {
uint8_t c = *pc++;
if (c == 0) {
// end of input test data
break;
} else if (c == '\n') {
// regular end of message line
CHECK(p.DecodeRequest(c) == Protocol::DecodeStatus::MessageCompleted);
} else {
CHECK(p.DecodeRequest(c) == Protocol::DecodeStatus::NeedMoreData);
}
}
// check the message type
const RequestMsg &rq = p.GetRequestMsg();
CHECK((uint8_t)rq.code == rxbuff[0]);
CHECK(rq.value == rxbuff[1] - '0');
}
TEST_CASE("protocol::DecodeResponseReadFinda", "[protocol]") {
using namespace modules;
Protocol p;
const char *rxbuff = GENERATE(
"P0 A0\n",
"P0 A1\n");
const char *pc = rxbuff;
for (;;) {
uint8_t c = *pc++;
if (c == 0) {
// end of input test data
break;
} else if (c == '\n') {
// regular end of message line
CHECK(p.DecodeResponse(c) == Protocol::DecodeStatus::MessageCompleted);
} else {
CHECK(p.DecodeResponse(c) == Protocol::DecodeStatus::NeedMoreData);
}
}
// check the message type
const ResponseMsg &rsp = p.GetResponseMsg();
CHECK((uint8_t)rsp.request.code == rxbuff[0]);
CHECK(rsp.request.value == rxbuff[1] - '0');
CHECK((uint8_t)rsp.paramCode == rxbuff[3]);
CHECK((uint8_t)rsp.paramValue == rxbuff[4] - '0');
}
TEST_CASE("protocol::DecodeResponseQueryOperation", "[protocol]") {
using namespace modules;
Protocol p;
const char *cmdReference = GENERATE(
"E0", "E1", "E2", "E3", "E4",
"K0",
"L0", "L1", "L2", "L3", "L4",
"T0", "T1", "T2", "T3",
"U0",
"W0");
const char *status = GENERATE(
"P0", "P1", "E0", "E1", "E9", "F");
std::string rxbuff(cmdReference);
rxbuff += ' ';
rxbuff += status;
rxbuff += '\n';
const char *pc = rxbuff.c_str();
for (;;) {
uint8_t c = *pc++;
if (c == 0) {
// end of input test data
break;
} else if (c == '\n') {
// regular end of message line
CHECK(p.DecodeResponse(c) == Protocol::DecodeStatus::MessageCompleted);
} else {
CHECK(p.DecodeResponse(c) == Protocol::DecodeStatus::NeedMoreData);
}
}
// check the message type
const ResponseMsg &rsp = p.GetResponseMsg();
CHECK((uint8_t)rsp.request.code == rxbuff[0]);
CHECK(rsp.request.value == rxbuff[1] - '0');
CHECK((uint8_t)rsp.paramCode == rxbuff[3]);
if ((uint8_t)rsp.paramCode != (uint8_t)ResponseMsgParamCodes::Finished) {
CHECK((uint8_t)rsp.paramValue == rxbuff[4] - '0');
}
}
TEST_CASE("protocol::DecodeRequestErrors", "[protocol]") {
using namespace modules;
Protocol p;
const char b0[] = "b0";
CHECK(p.DecodeRequest(b0[0]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b0[1]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
// reset protokol decoder
CHECK(p.DecodeRequest('\n') == Protocol::DecodeStatus::MessageCompleted);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
const char B1_[] = "B1 \n";
CHECK(p.DecodeRequest(B1_[0]) == Protocol::DecodeStatus::NeedMoreData);
CHECK(p.DecodeRequest(B1_[1]) == Protocol::DecodeStatus::NeedMoreData);
CHECK(p.DecodeRequest(B1_[2]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(B1_[3]) == Protocol::DecodeStatus::MessageCompleted);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
const char _B2[] = " B2\n";
CHECK(p.DecodeRequest(_B2[0]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(_B2[1]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(_B2[2]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(_B2[3]) == Protocol::DecodeStatus::MessageCompleted);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
const char _B0_[] = " B0 ";
CHECK(p.DecodeRequest(_B0_[0]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(_B0_[1]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(_B0_[2]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(_B0_[3]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest('\n') == Protocol::DecodeStatus::MessageCompleted);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
}
TEST_CASE("protocol::DecodeResponseErrors", "[protocol]") {
using namespace modules;
Protocol p;
const char b0[] = "b0 A\n";
CHECK(p.DecodeRequest(b0[0]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b0[1]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b0[2]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b0[3]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b0[4]) == Protocol::DecodeStatus::MessageCompleted);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
const char b1[] = "b0A\n";
CHECK(p.DecodeRequest(b1[0]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b1[1]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b1[2]) == Protocol::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b1[3]) == Protocol::DecodeStatus::MessageCompleted);
CHECK(p.GetRequestMsg().code == RequestMsgCodes::unknown);
}
// Beware - this test makes 18M+ combinations, run only when changing the implementation of the codec
// Therefore it is disabled [.] by default
TEST_CASE("protocol::DecodeResponseErrorsCross", "[protocol][.]") {
using namespace modules;
Protocol p;
const char *validInitialSpaces = "";
const char *invalidInitialSpaces = GENERATE(" ", " ");
bool viInitialSpace = GENERATE(true, false);
const char *validReqCode = GENERATE("B", "E", "K", "L", "M", "P", "Q", "S", "T", "U", "W", "X");
const char *invalidReqCode = GENERATE("A", "R", "F");
bool viReqCode = GENERATE(true, false);
const char *validReqValue = GENERATE("0", "1", "2", "3", "4");
// these are silently accepted
// const char *invalidReqValue = GENERATE(/*"5", */"10", "100");
// bool viReqValue = GENERATE(true, false);
const char *validSpace = " ";
const char *invalidSpace = GENERATE("", " ");
bool viSpace = GENERATE(true, false);
const char *validRspCode = GENERATE("A", "R", "P", "E", "F");
const char *invalidRspCode = GENERATE("B", "K", "L", "M", "Q");
bool viRspCode = GENERATE(true, false);
const char *validRspValue = GENERATE("0", "1", "2", "3", "10", "11", "100", "255");
const char *validTerminatingSpaces = "";
const char *invalidTerminatingSpaces = GENERATE(" ", " ");
bool viTerminatingSpaces = GENERATE(true, false);
// skip valid combinations
std::string msg;
msg += viInitialSpace ? validInitialSpaces : invalidInitialSpaces;
msg += viReqCode ? validReqCode : invalidReqCode;
msg += validReqValue; //viReqValue ? validReqValue : invalidReqValue;
msg += viSpace ? validSpace : invalidSpace;
const char *rspCode = viRspCode ? validRspCode : invalidRspCode;
msg += rspCode;
if (rspCode[0] == 'F') {
// this one doesn't have any value behind
} else {
msg += validRspValue;
}
msg += viTerminatingSpaces ? validTerminatingSpaces : invalidTerminatingSpaces;
msg += '\n';
bool shouldPass = viInitialSpace && viReqCode && /*viReqValue && */ viSpace && viRspCode && viTerminatingSpaces;
bool failed = false;
std::for_each(msg.cbegin(), msg.cend(), [&](uint8_t c) {
if (p.DecodeResponse(c) == Protocol::DecodeStatus::Error) {
failed = true;
}
});
CHECK(failed != shouldPass); // it must have failed!
if (failed) {
CHECK(p.GetResponseMsg().paramCode == ResponseMsgParamCodes::unknown);
}
} }