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