From 6523107f12e5494266d70e69de6eab9b0a8234fc Mon Sep 17 00:00:00 2001
From: Damiano Amatruda <damiano.amatruda@skywarder.eu>
Date: Sun, 20 Mar 2022 22:45:30 +0100
Subject: [PATCH] Add support for Main Computer unit tests on host
---
.gitlab-ci.yml | 2 +-
CMakeLists.txt | 1 +
skyward-boardcore | 2 +-
.../MainComputer/Actuators/Actuators.cpp | 15 ++++
.../MainComputer/AirBrakes/AirBrakesConfig.h | 5 ++
.../Deployment/DeploymentConfig.h | 4 ++
.../FlightStatsRecorder/FSRConfig.h | 2 +
.../MainComputer/catch/catch-tests-entry.cpp | 72 +++++++++++--------
8 files changed, 72 insertions(+), 31 deletions(-)
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 1f0603576..aa33eb367 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -52,7 +52,7 @@ build-debug:
test:
stage: test
script:
- - ./sbs --jobs 2 --test catch-tests-entry
+ - ./sbs --jobs 2 --test catch-tests-main
# Stage lint
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 086757965..2525102b5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,7 @@
# THE SOFTWARE.
cmake_minimum_required(VERSION 3.16)
+enable_testing()
include(skyward-boardcore/cmake/sbs.cmake)
#-----------------------------------------------------------------------------#
diff --git a/skyward-boardcore b/skyward-boardcore
index a5c11b02f..a10a0ec07 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit a5c11b02fab8990b04b2f27f44f2415c79e6e72e
+Subproject commit a10a0ec070e5a7ba2f817f2255811504039c8996
diff --git a/src/boards/MainComputer/Actuators/Actuators.cpp b/src/boards/MainComputer/Actuators/Actuators.cpp
index e4b98ba33..dabf7de85 100644
--- a/src/boards/MainComputer/Actuators/Actuators.cpp
+++ b/src/boards/MainComputer/Actuators/Actuators.cpp
@@ -24,7 +24,10 @@
#include <MainComputer/AirBrakes/AirBrakesConfig.h>
#include <MainComputer/Deployment/DeploymentConfig.h>
+
+#ifndef COMPILE_FOR_HOST
#include <interfaces-impl/hwmapping.h>
+#endif
using namespace miosix;
using namespace MainComputer::DeploymentConfig;
@@ -33,6 +36,8 @@ using namespace MainComputer::AirBrakesConfigs;
namespace MainComputer
{
+#ifndef COMPILE_FOR_HOST
+
Actuators::Actuators()
: servoExpulsion(DPL_SERVO_TIMER, DPL_SERVO_PWM_CH),
servoAirbrakes(ABK_SERVO_TIMER, ABK_SERVO_PWM_CH),
@@ -42,4 +47,14 @@ Actuators::Actuators()
{
}
+#else
+
+Actuators::Actuators()
+ : servoExpulsion(), servoAirbrakes(), led1(GpioPin{0, 0}),
+ led2(GpioPin{0, 0}), led3(GpioPin{0, 0}), cutter(GpioPin{0, 0})
+{
+}
+
+#endif
+
} // namespace MainComputer
diff --git a/src/boards/MainComputer/AirBrakes/AirBrakesConfig.h b/src/boards/MainComputer/AirBrakes/AirBrakesConfig.h
index 038711aad..829f4dc96 100644
--- a/src/boards/MainComputer/AirBrakes/AirBrakesConfig.h
+++ b/src/boards/MainComputer/AirBrakes/AirBrakesConfig.h
@@ -22,7 +22,10 @@
#pragma once
+#ifndef COMPILE_FOR_HOST
#include <drivers/timer/PWM.h>
+#endif
+
#include <utils/Constants.h>
namespace MainComputer
@@ -31,9 +34,11 @@ namespace MainComputer
namespace AirBrakesConfigs
{
+#ifndef COMPILE_FOR_HOST
TIM_TypeDef* const ABK_SERVO_TIMER = TIM8;
constexpr Boardcore::TimerUtils::Channel ABK_SERVO_PWM_CH =
Boardcore::TimerUtils::Channel::CHANNEL_2;
+#endif
static constexpr int SHADOW_MODE_TIMEOUT = 3.5 * 1000;
diff --git a/src/boards/MainComputer/Deployment/DeploymentConfig.h b/src/boards/MainComputer/Deployment/DeploymentConfig.h
index f9a64688d..12b41953c 100644
--- a/src/boards/MainComputer/Deployment/DeploymentConfig.h
+++ b/src/boards/MainComputer/Deployment/DeploymentConfig.h
@@ -20,8 +20,10 @@
* THE SOFTWARE.
*/
+#ifndef COMPILE_FOR_HOST
#include <drivers/timer/PWM.h>
#include <drivers/timer/TimerUtils.h>
+#endif
namespace MainComputer
{
@@ -29,9 +31,11 @@ namespace MainComputer
namespace DeploymentConfig
{
+#ifndef COMPILE_FOR_HOST
static TIM_TypeDef* const DPL_SERVO_TIMER = TIM4;
static constexpr Boardcore::TimerUtils::Channel DPL_SERVO_PWM_CH =
Boardcore::TimerUtils::Channel::CHANNEL_1;
+#endif
static constexpr int OPEN_NC_TIMEOUT = 5 * 1000; // [ms]
static constexpr int CUT_DURATION = 50; // [ms]
diff --git a/src/boards/MainComputer/FlightStatsRecorder/FSRConfig.h b/src/boards/MainComputer/FlightStatsRecorder/FSRConfig.h
index 3d376a748..2b68bfd95 100644
--- a/src/boards/MainComputer/FlightStatsRecorder/FSRConfig.h
+++ b/src/boards/MainComputer/FlightStatsRecorder/FSRConfig.h
@@ -20,8 +20,10 @@
* THE SOFTWARE.
*/
+#ifndef COMPILE_FOR_HOST
#include <drivers/timer/PWM.h>
#include <drivers/timer/TimerUtils.h>
+#endif
namespace MainComputer
{
diff --git a/src/tests/MainComputer/catch/catch-tests-entry.cpp b/src/tests/MainComputer/catch/catch-tests-entry.cpp
index 1b970e126..1acb03098 100644
--- a/src/tests/MainComputer/catch/catch-tests-entry.cpp
+++ b/src/tests/MainComputer/catch/catch-tests-entry.cpp
@@ -1,5 +1,5 @@
-/* Copyright (c) 2019 Skyward Experimental Rocketry
- * Author: Luca Erbetta
+/* Copyright (c) 2019-2021 Skyward Experimental Rocketry
+ * Authors: Luca Erbetta, Damiano Amatruda
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -21,14 +21,14 @@
*/
/*
- * Entrypoint for all Catch1-based tests. You should not need to modify this
+ * Entrypoint for all Catch2-based tests. You should not need to modify this
* file.
*
* To add a test, just create a new source file and include <catch.hpp>, then
* add test cases as you wish. Do not add a main() function in your test
* sources.
* Once the test is written, compile the test source file(s) + this entrypoint
- * in sbs.conf. Run it and all your test will be automatically executed.
+ * in CMakeLists.txt. Run it and all your test will be automatically executed.
*
* You can also include this file in your test source if you want to run it as a
* standalone test, and not togheter with all the others. See the
@@ -41,21 +41,33 @@
* https://github.com/catchorg/Catch2/blob/Catch1.x/docs/command-line.md
*
* To specify the command line options, add, in the definition of the entrypoint
- * in sbs.conf, add the CATCH1_CL_OPTIONS define.
- * Example: -DCATCH1_CL_OPTIONS="\"[tag1][tag2] -s\""
+ * in CMakeLists.txt, add the CATCH_CL_OPTIONS define.
+ * Example: -DCATCH_CL_OPTIONS="\"[tag1][tag2] -s\""
* Remember to correctly escape the quotation marks, as shown
* above.
*
* Further information at:
- * https://git.skywarder.eu/r2a/skyward-boardcore/wikis/Testing
+ * https://git.skywarder.eu/scs/skyward-boardcore/wikis/Testing
*/
#define CATCH_CONFIG_RUNNER
#define CATCH_CONFIG_NO_POSIX_SIGNALS
+#include <catch2/catch.hpp>
+
+// No tags or command line options as default.
+#ifndef CATCH_CL_OPTIONS
+#define CATCH_CL_OPTIONS ""
+#endif
+
+#ifdef COMPILE_FOR_HOST
+
+int main(int argc, char* argv[]) { return Catch::Session().run(argc, argv); }
+
+#else
+
#include <miosix.h>
-#include <catch2/catch.hpp>
#include <cstring>
#include <string>
#include <vector>
@@ -64,11 +76,6 @@ using miosix::Thread;
using std::string;
using std::vector;
-// No tags or command line options as default.
-#ifndef CATCH1_CL_OPTIONS
-#define CATCH1_CL_OPTIONS ""
-#endif
-
/**
* @brief Splits a string around spaces
* Eg: "This is a string" -> {"This", "is", "a", "string"}
@@ -76,15 +83,18 @@ using std::vector;
* @param str String to split
* @return vector<string>
*/
-vector<string> splitSpaces(string str)
+static vector<string> splitSpaces(const string& str)
{
- unsigned int p = 0;
- bool end = false;
+ size_t p = 0;
+ bool end = false;
vector<string> out;
+ if (str.length() == 0)
+ return out;
+
do
{
- unsigned int p2 = str.find(" ", p);
+ size_t p2 = str.find(" ", p);
if (p2 == string::npos) // No match
{
@@ -98,6 +108,7 @@ vector<string> splitSpaces(string str)
{
out.push_back(str.substr(p, len));
}
+
p = p2 + 1;
} while (!end);
@@ -106,18 +117,18 @@ vector<string> splitSpaces(string str)
/**
* @brief Entrypoint for the tests. Parses the options and tags
- * provided in sbs.conf and runs a Catch1 session.
+ * provided in CMakeLists.txt and runs a Catch2 session.
*/
int main()
{
- // Parse command line arguments from #defines in sbs.conf
+ // Parse command line arguments from #defines in CMakeLists.txt
string skw{"Skyward-tests"};
- // CATCH1_CL_OPTIONS defined in sbs.conf
- string options_str{CATCH1_CL_OPTIONS};
+ // CATCH_CL_OPTIONS defined in CMakeLists.txt
+ string optionsStr{CATCH_CL_OPTIONS};
- vector<string> options = splitSpaces(options_str);
+ vector<string> options = splitSpaces(optionsStr);
vector<string> args{skw};
if (options.size() > 0)
@@ -126,14 +137,14 @@ int main()
// Convert vector of strings to array of c-strings
size_t argc = args.size();
- char** argv =
- new char*[argc]; // Array of c strings, aka array of char pointers
+ // Array of c strings, aka array of char pointers
+ char** argv = new char*[argc];
for (size_t i = 0; i < argc; i++)
{
- string s = args.at(i);
- char* c_arg = new char[s.length() + 1];
- strcpy(c_arg, s.c_str());
- argv[i] = c_arg;
+ string s = args.at(i);
+ char* cArg = new char[s.length() + 1];
+ strcpy(cArg, s.c_str());
+ argv[i] = cArg;
}
// Run tests with the provided arguments
@@ -147,9 +158,12 @@ int main()
delete[] argv;
printf("End.\n");
+
// Infinite loop to avoid board reset each time we return
- for (;;)
+ while (true)
{
Thread::sleep(10000);
}
}
+
+#endif // COMPILE_FOR_HOST
--
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