Refactor radar system

python_app/tests/test_cart_firmware.py

@@ -0,0 +1,88 @@
+"""Run firmware logic on the host; timing and physical I/O still need the board."""
+
+from pathlib import Path
+import shutil
+import subprocess
+import tempfile
+import unittest
+
+PROJECT = Path(__file__).resolve().parents[2]
+
+ARDUINO_STUB = r'''
+#pragma once
+#include <algorithm>
+#include <cmath>
+#include <cstdint>
+#include <cstring>
+inline uint32_t test_time = 0;
+inline int transmissions = 0;
+inline uint32_t millis() { return test_time; }
+inline int analogRead(uint32_t pin) { return pin == 0 ? 2014 : 1981; }
+inline void analogReadResolution(int) {}
+inline void pinMode(uint32_t, int) {}
+inline float constrain(float v, float lo, float hi) { return std::clamp(v, lo, hi); }
+struct SerialStub {
+    void begin(int) {}
+    template<class T> void print(T, int = 0) {}
+    template<class T> void println(T) {}
+};
+inline SerialStub Serial;
+struct GPIO_InitTypeDef { int Pin, Mode, Pull, Speed, Alternate; };
+struct UART_HandleTypeDef {
+    int Instance;
+    struct { int BaudRate, WordLength, StopBits, Parity, Mode, HwFlowCtl, OverSampling; } Init;
+    struct { int AdvFeatureInit, TxPinLevelInvert; } AdvancedInit;
+};
+enum { PA0, PA1, GPIO_PIN_9, GPIO_MODE_AF_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW,
+       GPIO_AF7_USART1, GPIOA, USART1, UART_WORDLENGTH_9B, UART_STOPBITS_2,
+       UART_PARITY_EVEN, UART_MODE_TX, UART_HWCONTROL_NONE, UART_OVERSAMPLING_16,
+       UART_ADVFEATURE_TXINVERT_INIT, UART_ADVFEATURE_TXINV_ENABLE, INPUT_ANALOG };
+inline void __HAL_RCC_GPIOA_CLK_ENABLE() {}
+inline void __HAL_RCC_USART1_CLK_ENABLE() {}
+inline void HAL_GPIO_Init(int, GPIO_InitTypeDef*) {}
+inline void HAL_UART_Init(UART_HandleTypeDef*) {}
+inline void HAL_UART_Transmit(UART_HandleTypeDef*, uint8_t*, int, int) { ++transmissions; }
+'''
+
+
+@unittest.skipUnless(shutil.which('g++'), 'requires a host C++ compiler')
+class CartFirmwareTest(unittest.TestCase):
+    def test_schedule_rollover_and_sbus_encoding(self) -> None:
+        with tempfile.TemporaryDirectory() as directory:
+            root = Path(directory)
+            (root / 'Arduino.h').write_text(ARDUINO_STUB)
+            source = root / 'check.cpp'
+            firmware = PROJECT / 'device_firmware/cart_firmware/src/main.cpp'
+            source.write_text(f'#include "{firmware}"\n' + r'''
+#include <cassert>
+int main() {
+    test_time = UINT32_MAX - 100;
+    loop(); assert(transmissions == 1);
+    test_time = 1;
+    loop(); assert(transmissions == 2);
+    test_time += 49;
+    loop(); assert(transmissions == 2);
+    ++test_time;
+    loop(); assert(transmissions == 3);
+    assert(axisNorm(X_MID, X_FWD, X_MID, X_BACK) == 0);
+    assert(axisNorm(X_FWD, X_FWD, X_MID, X_BACK) == 1);
+    assert(driveToSbus(0, CH2_SPAN, CH2_DB, POWER_FWD, POWER_BACK) == SBUS_MID);
+    uint16_t channels[16];
+    for (int n = 0; n < 16; ++n) channels[n] = n * 127;
+    uint8_t packed[25]; sbusPack(packed, channels);
+    assert(packed[0] == 0x0f && packed[23] == 0 && packed[24] == 0);
+    for (int n = 0; n < 16; ++n) {
+        uint16_t value = 0;
+        for (int b = 0; b < 11; ++b) {
+            const int bit = n * 11 + b;
+            value |= ((packed[1 + bit / 8] >> (bit % 8)) & 1) << b;
+        }
+        assert(value == channels[n]);
+    }
+}
+''')
+            binary = root / 'check'
+            built = subprocess.run(['g++', '-std=c++20', '-Wall', '-Wextra', '-Werror', f'-I{root}',
+                                    str(source), '-o', str(binary)], capture_output=True, text=True, timeout=15)
+            self.assertEqual(built.returncode, 0, built.stderr)
+            subprocess.run([str(binary)], check=True, timeout=5)