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Prusa-Firmware-MMU/tests/unit/modules/protocol/test_protocol.cpp

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#include "catch2/catch.hpp"
#include "../logic/error_codes.h"
#include "../logic/progress_codes.h"
#include "protocol.h"
using Catch::Matchers::Equals;
TEST_CASE("protocol::EncodeRequests", "[protocol]") {
mp::RequestMsgCodes code;
uint8_t value;
std::tie(code, value) = GENERATE(
std::make_tuple(mp::RequestMsgCodes::Button, 0),
std::make_tuple(mp::RequestMsgCodes::Button, 1),
std::make_tuple(mp::RequestMsgCodes::Button, 2),
std::make_tuple(mp::RequestMsgCodes::Cut, 0),
std::make_tuple(mp::RequestMsgCodes::Eject, 0),
std::make_tuple(mp::RequestMsgCodes::Finda, 0),
std::make_tuple(mp::RequestMsgCodes::Load, 0),
std::make_tuple(mp::RequestMsgCodes::Load, 1),
std::make_tuple(mp::RequestMsgCodes::Load, 2),
std::make_tuple(mp::RequestMsgCodes::Load, 3),
std::make_tuple(mp::RequestMsgCodes::Load, 4),
std::make_tuple(mp::RequestMsgCodes::Mode, 0),
std::make_tuple(mp::RequestMsgCodes::Mode, 1),
std::make_tuple(mp::RequestMsgCodes::Query, 0),
std::make_tuple(mp::RequestMsgCodes::Reset, 0),
std::make_tuple(mp::RequestMsgCodes::Tool, 0),
std::make_tuple(mp::RequestMsgCodes::Tool, 1),
std::make_tuple(mp::RequestMsgCodes::Tool, 2),
std::make_tuple(mp::RequestMsgCodes::Tool, 3),
std::make_tuple(mp::RequestMsgCodes::Tool, 4),
std::make_tuple(mp::RequestMsgCodes::Unload, 0),
std::make_tuple(mp::RequestMsgCodes::Version, 0),
std::make_tuple(mp::RequestMsgCodes::Version, 1),
std::make_tuple(mp::RequestMsgCodes::Version, 2),
std::make_tuple(mp::RequestMsgCodes::Wait, 0),
std::make_tuple(mp::RequestMsgCodes::unknown, 0));
std::array<uint8_t, 3> txbuff;
CHECK(mp::Protocol::EncodeRequest(mp::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]") {
auto requestMsg = GENERATE(
mp::RequestMsg(mp::RequestMsgCodes::Button, 0),
mp::RequestMsg(mp::RequestMsgCodes::Button, 1),
mp::RequestMsg(mp::RequestMsgCodes::Button, 2),
mp::RequestMsg(mp::RequestMsgCodes::Cut, 0),
mp::RequestMsg(mp::RequestMsgCodes::Eject, 0),
mp::RequestMsg(mp::RequestMsgCodes::Eject, 1),
mp::RequestMsg(mp::RequestMsgCodes::Eject, 2),
mp::RequestMsg(mp::RequestMsgCodes::Eject, 3),
mp::RequestMsg(mp::RequestMsgCodes::Eject, 4),
mp::RequestMsg(mp::RequestMsgCodes::FilamentType, 0),
mp::RequestMsg(mp::RequestMsgCodes::FilamentType, 1),
mp::RequestMsg(mp::RequestMsgCodes::FilamentSensor, 0),
mp::RequestMsg(mp::RequestMsgCodes::FilamentSensor, 1),
mp::RequestMsg(mp::RequestMsgCodes::Load, 0),
mp::RequestMsg(mp::RequestMsgCodes::Load, 1),
mp::RequestMsg(mp::RequestMsgCodes::Load, 2),
mp::RequestMsg(mp::RequestMsgCodes::Load, 3),
mp::RequestMsg(mp::RequestMsgCodes::Load, 4),
mp::RequestMsg(mp::RequestMsgCodes::Mode, 0),
mp::RequestMsg(mp::RequestMsgCodes::Mode, 1),
mp::RequestMsg(mp::RequestMsgCodes::Tool, 0),
mp::RequestMsg(mp::RequestMsgCodes::Tool, 1),
mp::RequestMsg(mp::RequestMsgCodes::Tool, 2),
mp::RequestMsg(mp::RequestMsgCodes::Tool, 3),
mp::RequestMsg(mp::RequestMsgCodes::Tool, 4),
mp::RequestMsg(mp::RequestMsgCodes::Unload, 0),
mp::RequestMsg(mp::RequestMsgCodes::Wait, 0));
auto responseStatus = GENERATE(mp::ResponseMsgParamCodes::Accepted, mp::ResponseMsgParamCodes::Rejected);
std::array<uint8_t, 8> txbuff;
uint8_t msglen = mp::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]") {
auto requestMsg = mp::RequestMsg(mp::RequestMsgCodes::Finda, 0);
uint8_t findaStatus = GENERATE(0, 1);
std::array<uint8_t, 8> txbuff;
uint8_t msglen = mp::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)mp::ResponseMsgParamCodes::Accepted);
CHECK(txbuff[4] == findaStatus + '0');
CHECK(txbuff[5] == '\n');
}
TEST_CASE("protocol::EncodeResponseVersion", "[protocol]") {
std::uint8_t versionQueryType = GENERATE(0, 1, 2, 3);
auto requestMsg = mp::RequestMsg(mp::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 = mp::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)mp::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]") {
auto requestMsg = GENERATE(
mp::RequestMsg(mp::RequestMsgCodes::Cut, 0),
mp::RequestMsg(mp::RequestMsgCodes::Eject, 0),
mp::RequestMsg(mp::RequestMsgCodes::Eject, 1),
mp::RequestMsg(mp::RequestMsgCodes::Eject, 2),
mp::RequestMsg(mp::RequestMsgCodes::Eject, 3),
mp::RequestMsg(mp::RequestMsgCodes::Eject, 4),
mp::RequestMsg(mp::RequestMsgCodes::Load, 0),
mp::RequestMsg(mp::RequestMsgCodes::Load, 1),
mp::RequestMsg(mp::RequestMsgCodes::Load, 2),
mp::RequestMsg(mp::RequestMsgCodes::Load, 3),
mp::RequestMsg(mp::RequestMsgCodes::Load, 4),
mp::RequestMsg(mp::RequestMsgCodes::Tool, 0),
mp::RequestMsg(mp::RequestMsgCodes::Tool, 1),
mp::RequestMsg(mp::RequestMsgCodes::Tool, 2),
mp::RequestMsg(mp::RequestMsgCodes::Tool, 3),
mp::RequestMsg(mp::RequestMsgCodes::Tool, 4),
mp::RequestMsg(mp::RequestMsgCodes::Unload, 0),
mp::RequestMsg(mp::RequestMsgCodes::Wait, 0));
auto responseStatus = GENERATE(mp::ResponseMsgParamCodes::Processing, mp::ResponseMsgParamCodes::Error, mp::ResponseMsgParamCodes::Finished);
auto value = GENERATE(
ProgressCode::OK,
ProgressCode::EngagingIdler,
ProgressCode::DisengagingIdler,
ProgressCode::UnloadingToFinda,
ProgressCode::UnloadingToPulley,
ProgressCode::FeedingToFinda,
ProgressCode::FeedingToBondtech,
ProgressCode::AvoidingGrind,
ProgressCode::FinishingMoves,
ProgressCode::ERRDisengagingIdler,
ProgressCode::ERREngagingIdler,
ProgressCode::ERRWaitingForUser,
ProgressCode::ERRInternal,
ProgressCode::ERRHelpingFilament,
ProgressCode::ERRTMCFailed,
ProgressCode::UnloadingFilament,
ProgressCode::LoadingFilament,
ProgressCode::SelectingFilamentSlot,
ProgressCode::PreparingBlade,
ProgressCode::PushingFilament,
ProgressCode::PerformingCut,
ProgressCode::ReturningSelector,
ProgressCode::ParkingSelector,
ProgressCode::EjectingFilament);
auto error = GENERATE(
ErrorCode::RUNNING,
ErrorCode::OK,
ErrorCode::FINDA_DIDNT_SWITCH_ON,
ErrorCode::FINDA_DIDNT_SWITCH_OFF,
ErrorCode::FSENSOR_DIDNT_SWITCH_ON,
ErrorCode::FSENSOR_DIDNT_SWITCH_OFF,
ErrorCode::FILAMENT_ALREADY_LOADED,
ErrorCode::MMU_NOT_RESPONDING,
ErrorCode::INTERNAL,
ErrorCode::TMC_PULLEY_BIT,
ErrorCode::TMC_SELECTOR_BIT,
ErrorCode::TMC_IDLER_BIT,
ErrorCode::TMC_IOIN_MISMATCH,
ErrorCode::TMC_RESET,
ErrorCode::TMC_UNDERVOLTAGE_ON_CHARGE_PUMP,
ErrorCode::TMC_SHORT_TO_GROUND,
ErrorCode::TMC_OVER_TEMPERATURE_WARN,
ErrorCode::TMC_OVER_TEMPERATURE_ERROR);
std::array<uint8_t, 10> txbuff;
uint16_t encodedParamValue = responseStatus == mp::ResponseMsgParamCodes::Error ? (uint16_t)error : (uint16_t)value;
uint8_t msglen = mp::Protocol::EncodeResponseQueryOperation(requestMsg, responseStatus, encodedParamValue, txbuff.data());
CHECK(msglen <= txbuff.size());
CHECK(txbuff[0] == (uint8_t)requestMsg.code);
CHECK(txbuff[1] == requestMsg.value + '0');
CHECK(txbuff[2] == ' ');
CHECK(txbuff[3] == (uint8_t)responseStatus);
if (responseStatus == mp::ResponseMsgParamCodes::Finished) {
CHECK(txbuff[4] == '\n');
CHECK(msglen == 5);
} else {
if (encodedParamValue < 10) {
CHECK(txbuff[4] == encodedParamValue + '0');
} else if (encodedParamValue < 100) {
CHECK(txbuff[4] == encodedParamValue / 10 + '0');
CHECK(txbuff[5] == encodedParamValue % 10 + '0');
} else if (encodedParamValue < 1000) {
CHECK(txbuff[4] == encodedParamValue / 100 + '0');
CHECK(txbuff[5] == (encodedParamValue / 10) % 10 + '0');
CHECK(txbuff[6] == encodedParamValue % 10 + '0');
} else if (encodedParamValue < 10000) {
CHECK(txbuff[4] == encodedParamValue / 1000 + '0');
CHECK(txbuff[5] == (encodedParamValue / 100) % 10 + '0');
CHECK(txbuff[6] == (encodedParamValue / 10) % 10 + '0');
CHECK(txbuff[7] == encodedParamValue % 10 + '0');
} else {
CHECK(txbuff[4] == encodedParamValue / 10000 + '0');
CHECK(txbuff[5] == (encodedParamValue / 1000) % 10 + '0');
CHECK(txbuff[6] == (encodedParamValue / 100) % 10 + '0');
CHECK(txbuff[7] == (encodedParamValue / 10) % 10 + '0');
CHECK(txbuff[8] == encodedParamValue % 10 + '0');
}
CHECK(txbuff[msglen - 1] == '\n');
}
}
TEST_CASE("protocol::DecodeRequest", "[protocol]") {
mp::Protocol p;
const char *rxbuff = GENERATE(
"B0\n", "B1\n", "B2\n",
"E0\n", "E1\n", "E2\n", "E3\n", "E4\n",
"F0\n", "F1\n",
"f0\n", "f1\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) == mp::DecodeStatus::MessageCompleted);
} else {
CHECK(p.DecodeRequest(c) == mp::DecodeStatus::NeedMoreData);
}
}
// check the message type
const mp::RequestMsg &rq = p.GetRequestMsg();
CHECK((uint8_t)rq.code == rxbuff[0]);
CHECK(rq.value == rxbuff[1] - '0');
}
TEST_CASE("protocol::DecodeResponseReadFinda", "[protocol]") {
mp::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) == mp::DecodeStatus::MessageCompleted);
} else {
CHECK(p.DecodeResponse(c) == mp::DecodeStatus::NeedMoreData);
}
}
// check the message type
const mp::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]") {
mp::Protocol p;
const char *cmdReference = GENERATE(
"E0", "E1", "E2", "E3", "E4",
"K0", "K1", "K2", "K3", "K4",
"L0", "L1", "L2", "L3", "L4",
"T0", "T1", "T2", "T3", "T4",
"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) == mp::DecodeStatus::MessageCompleted);
} else {
CHECK(p.DecodeResponse(c) == mp::DecodeStatus::NeedMoreData);
}
}
// check the message type
const mp::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)mp::ResponseMsgParamCodes::Finished) {
CHECK((uint8_t)rsp.paramValue == rxbuff[4] - '0');
}
}
TEST_CASE("protocol::DecodeRequestErrors", "[protocol]") {
mp::Protocol p;
const char b0[] = "b0";
CHECK(p.DecodeRequest(b0[0]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b0[1]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
// reset protokol decoder
CHECK(p.DecodeRequest('\n') == mp::DecodeStatus::MessageCompleted);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
const char B1_[] = "B1 \n";
CHECK(p.DecodeRequest(B1_[0]) == mp::DecodeStatus::NeedMoreData);
CHECK(p.DecodeRequest(B1_[1]) == mp::DecodeStatus::NeedMoreData);
CHECK(p.DecodeRequest(B1_[2]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(B1_[3]) == mp::DecodeStatus::MessageCompleted);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
const char _B2[] = " B2\n";
CHECK(p.DecodeRequest(_B2[0]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(_B2[1]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(_B2[2]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(_B2[3]) == mp::DecodeStatus::MessageCompleted);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
const char _B0_[] = " B0 ";
CHECK(p.DecodeRequest(_B0_[0]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(_B0_[1]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(_B0_[2]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(_B0_[3]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest('\n') == mp::DecodeStatus::MessageCompleted);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
}
TEST_CASE("protocol::DecodeResponseErrors", "[protocol]") {
mp::Protocol p;
const char b0[] = "b0 A\n";
CHECK(p.DecodeRequest(b0[0]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b0[1]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b0[2]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b0[3]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b0[4]) == mp::DecodeStatus::MessageCompleted);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
const char b1[] = "b0A\n";
CHECK(p.DecodeRequest(b1[0]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b1[1]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b1[2]) == mp::DecodeStatus::Error);
CHECK(p.GetRequestMsg().code == mp::RequestMsgCodes::unknown);
CHECK(p.DecodeRequest(b1[3]) == mp::DecodeStatus::MessageCompleted);
CHECK(p.GetRequestMsg().code == mp::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][.]") {
mp::Protocol p;
const char *validInitialSpaces = "";
const char *invalidInitialSpaces = GENERATE(" ", " ");
bool viInitialSpace = GENERATE(true, false);
const char *validReqCode = GENERATE("B", "E", "F", "f", "K", "L", "M", "P", "Q", "S", "T", "U", "W", "X");
const char *invalidReqCode = GENERATE("A", "R");
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) == mp::DecodeStatus::Error) {
failed = true;
}
});
CHECK(failed != shouldPass); // it must have failed!
if (failed) {
CHECK(p.GetResponseMsg().paramCode == mp::ResponseMsgParamCodes::unknown);
}
}
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