diff --git a/sbs.conf b/sbs.conf
index b96726de49c219d4fd045584f4e5b555818d896a..90a0f358df82d1b239ffbe165d0614f66b83b9b7 100644
--- a/sbs.conf
+++ b/sbs.conf
@@ -120,6 +120,9 @@ Files: src/shared/SensorManager/SensorManager.cpp
src/boards/HeliTest/FlightModeManager/HeliFMM.cpp
src/boards/HeliTest/ScreenManager.cpp
+[tests]
+Type: srcfiles
+Files: src/tests/catch/test-buttonhandler.cpp
# Boards
[mxgui]
@@ -170,3 +173,11 @@ Include: %logger %shared %heli-board %pwm
Defines: -DDEBUG
Main: heli-entry
+[tests-catch]
+Type: test
+BoardId: stm32f429zi_skyward_rogallina
+BinName: tests-catch
+Include: %tests %logger
+Defines: -DDEBUG
+Main: catch/catch-tests-entry
+
diff --git a/src/shared/ButtonHandler.h b/src/shared/ButtonHandler.h
index edd7c098d631cbf0ceda38319b90108bc18ae9a5..a68d86c887f7c0fa34881df86e03dfa0c951bf2d 100644
--- a/src/shared/ButtonHandler.h
+++ b/src/shared/ButtonHandler.h
@@ -24,8 +24,8 @@
#include <functional>
-#include "ButtonStatus.h"
#include "ActiveObject.h"
+#include "ButtonStatus.h"
#include "logger/Logger.h"
using miosix::Thread;
@@ -58,14 +58,15 @@ public:
ButtonHandler(uint8_t btn_id, ButtonCallback on_press)
: ButtonHandler(btn_id, on_press, on_press, on_press)
{
-
}
- ButtonHandler(uint8_t btn_id, ButtonCallback on_short_press, ButtonCallback on_long_press,
+ ButtonHandler(uint8_t btn_id, ButtonCallback on_short_press,
+ ButtonCallback on_long_press,
ButtonCallback on_very_long_press)
: on_short_press(on_short_press), on_long_press(on_long_press),
on_very_long_press(on_very_long_press)
{
+ memset(&status, 0, sizeof(ButtonStatus));
status.btn_id = btn_id;
Button::mode(miosix::Mode::INPUT);
}
@@ -81,25 +82,36 @@ protected:
status.pressed_ticks++;
status.pressed = true;
status.timestamp = miosix::getTick();
+
Logger::instance().log(status);
}
- else if (status.pressed)
+ else if (status.pressed) // if the button was unpressed since the
+ // last operation
{
if (status.pressed_ticks >= VERY_LONG_PRESS_TICKS)
{
- if(on_very_long_press){
+ TRACE("Button pressed (very long) (%d ticks).\n",
+ status.pressed_ticks);
+ if (on_very_long_press)
+ {
on_very_long_press(ButtonPress::VERY_LONG);
}
}
else if (status.pressed_ticks >= LONG_PRESS_TICKS)
{
- if(on_long_press){
+ TRACE("Button pressed (long) (%d ticks).\n",
+ status.pressed_ticks);
+ if (on_long_press)
+ {
on_long_press(ButtonPress::LONG);
}
}
else
{
- if(on_short_press){
+ TRACE("Button pressed (short) (%d ticks).\n",
+ status.pressed_ticks);
+ if (on_short_press)
+ {
on_short_press(ButtonPress::SHORT);
}
}
diff --git a/src/tests/catch/catch-tests-entry.cpp b/src/tests/catch/catch-tests-entry.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e9d0fcc1c6dcf6ba08285d2dddf6b67a8a08eaa8
--- /dev/null
+++ b/src/tests/catch/catch-tests-entry.cpp
@@ -0,0 +1,155 @@
+/*
+ * Copyright (c) 2019 Skyward Experimental Rocketry
+ * Authors: Luca Erbetta
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+/*
+ * Entrypoint for all Catch1-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.
+ *
+ * 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
+ * skyward-boardcore wiki at: <link here> for more information.
+ *
+ * You can specify command line options such as "-s" to display messages for
+ * succesfull tests (and not only messages for the ones that fail), plus others.
+ * You can also add tags in order to specify which tests you want to be
+ * executed. For a list of the command line arguments, take a look at:
+ * 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\""
+ * Remember to correctly escape the quotation marks, as shown
+ * above.
+ *
+ * Further information at:
+ * https://git.skywarder.eu/r2a/skyward-boardcore/wikis/Testing
+ */
+
+#define CATCH_CONFIG_RUNNER
+#define CATCH_CONFIG_NO_POSIX_SIGNALS
+
+#include <miosix.h>
+#include <utils/catch.hpp>
+#include <cstring>
+#include <string>
+#include <vector>
+
+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"}
+ *
+ * @param str String to split
+ * @return vector<string>
+ */
+vector<string> splitSpaces(string str)
+{
+ unsigned int p = 0, p2;
+ bool end = false;
+ vector<string> out;
+
+ do
+ {
+ p2 = str.find(" ", p);
+
+ if (p2 == string::npos) // No match
+ {
+ p2 = str.length();
+ end = true;
+ }
+
+ size_t len = p2 - p; // Length of the substring
+
+ if (len > 0)
+ {
+ out.push_back(str.substr(p, len));
+ }
+ p = p2 + 1;
+ } while (!end);
+
+ return out;
+}
+
+/**
+ * @brief Entrypoint for the tests. Parses the options and tags
+ * provided in sbs.conf and runs a Catch1 session.
+ */
+int main()
+{
+ // Parse command line arguments from #defines in sbs.conf
+
+ string skw{"Skyward-tests"};
+
+ // CATCH1_CL_OPTIONS defined in sbs.conf
+ string options_str{CATCH1_CL_OPTIONS};
+
+ vector<string> options = splitSpaces(options_str);
+ vector<string> args{skw};
+
+ if (options.size() > 0)
+ args.insert(args.end(), options.begin(), options.end());
+
+ // 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
+ 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;
+ }
+
+ // Run tests with the provided arguments
+ int result = Catch::Session().run(argc, argv);
+
+ // Clear memory
+ for (size_t i = 0; i < argc; i++)
+ {
+ delete[] argv[i];
+ }
+ delete[] argv;
+
+ printf("End.\n");
+ // Infinite loop to avoid board reset each time we return
+ for (;;)
+ {
+ Thread::sleep(10000);
+ }
+}
\ No newline at end of file
diff --git a/src/tests/catch/test-buttonhandler.cpp b/src/tests/catch/test-buttonhandler.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fa41d8e3d9e4b5ff28cb58cbcbb28a6b0dae1a95
--- /dev/null
+++ b/src/tests/catch/test-buttonhandler.cpp
@@ -0,0 +1,282 @@
+/*
+ * Copyright (c) 2019 Skyward Experimental Rocketry
+ * Authors: Luca Erbetta
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifdef STANDALONE_CATCH1_TEST
+#include "catch-tests-entry.cpp"
+#endif
+
+#include <functional>
+
+#include <Singleton.h>
+#include <miosix.h>
+#include <utils/catch.hpp>
+
+#include "ButtonHandler.h"
+
+using namespace miosix;
+using std::bind;
+
+class ButtonMock : public Singleton<ButtonMock>
+{
+ friend class Singleton<ButtonMock>;
+
+public:
+ // Mocked methods
+ static void mode(miosix::Mode::Mode_ mode)
+ {
+ getInstance()->input_mode = mode == Mode::INPUT;
+ }
+
+ static int value()
+ {
+ ButtonMock* instance = getInstance();
+ if (instance->input_mode)
+ return getInstance()->btn_value;
+
+ TRACE("Returning 0\n");
+ return 0;
+ }
+
+ // Test methods
+ void setValue(int value) { btn_value = value; }
+
+ void reset()
+ {
+ btn_value = 0;
+ input_mode = false;
+ }
+
+ void press(unsigned int duration)
+ {
+ setValue(1);
+ Thread::sleep(duration);
+ setValue(0);
+ Thread::sleep(TICK_LENGTH * 2);
+ }
+
+private:
+ int btn_value = 0;
+ bool input_mode = false;
+};
+
+ButtonMock* btn = ButtonMock::getInstance();
+
+using ButtonHandler_t = ButtonHandler<ButtonMock>;
+
+class ButtonHandlerTestFixture
+{
+
+public:
+ ButtonHandlerTestFixture() : handler(nullptr) {}
+
+ ~ButtonHandlerTestFixture()
+ {
+ if (handler)
+ {
+ handler->stop();
+ delete handler;
+ }
+
+ btn->reset();
+ }
+
+protected:
+ void registerOneCallback()
+ {
+ using namespace std::placeholders;
+ ButtonHandler_t::ButtonCallback cb =
+ bind(&ButtonHandlerTestFixture::singleCallback, this, _1);
+ handler = new ButtonHandler_t(1, cb);
+ }
+
+ void registerMultipleCallbacks()
+ {
+ using namespace std::placeholders;
+ ButtonHandler_t::ButtonCallback cb_short =
+ bind(&ButtonHandlerTestFixture::shortPressCallback, this, _1);
+ ButtonHandler_t::ButtonCallback cb_long =
+ bind(&ButtonHandlerTestFixture::longPressCallback, this, _1);
+ ButtonHandler_t::ButtonCallback cb_verylong =
+ bind(&ButtonHandlerTestFixture::veryLongPressCallback, this, _1);
+ handler = new ButtonHandler_t(1, cb_short, cb_long, cb_verylong);
+ }
+
+ void singleCallback(ButtonHandler_t::ButtonPress press_type)
+ {
+ switch (press_type)
+ {
+ case ButtonHandler_t::ButtonPress::SHORT:
+ ++short_press_count;
+ break;
+ case ButtonHandler_t::ButtonPress::LONG:
+ ++long_press_count;
+ break;
+ case ButtonHandler_t::ButtonPress::VERY_LONG:
+ ++very_long_press_count;
+ break;
+ default:
+ break;
+ }
+ }
+
+ void shortPressCallback(ButtonHandler_t::ButtonPress press_type)
+ {
+ UNUSED(press_type);
+ ++short_press_count;
+ }
+
+ void longPressCallback(ButtonHandler_t::ButtonPress press_type)
+ {
+ UNUSED(press_type);
+ ++long_press_count;
+ }
+
+ void veryLongPressCallback(ButtonHandler_t::ButtonPress press_type)
+ {
+ UNUSED(press_type);
+ ++very_long_press_count;
+ }
+
+ unsigned int short_press_count = 0;
+ unsigned int long_press_count = 0;
+ unsigned int very_long_press_count = 0;
+ ButtonHandler_t* handler;
+};
+
+TEST_CASE_METHOD(ButtonHandlerTestFixture,
+ "ButtonHandler - Nothing happens if button is not pressed")
+{
+ registerMultipleCallbacks();
+ handler->start();
+
+ Thread::sleep((VERY_LONG_PRESS_TICKS + 1) * TICK_LENGTH);
+
+ REQUIRE(short_press_count == 0);
+ REQUIRE(long_press_count == 0);
+ REQUIRE(very_long_press_count == 0);
+}
+
+TEST_CASE_METHOD(ButtonHandlerTestFixture,
+ "ButtonHandler - Handle each button press")
+{
+ SECTION("Different callbacks")
+ {
+ registerMultipleCallbacks();
+ handler->start();
+
+ btn->press(TICK_LENGTH + 5);
+
+
+ CHECK(long_press_count == 0);
+ CHECK(very_long_press_count == 0);
+ REQUIRE(short_press_count == 1);
+
+ btn->press(TICK_LENGTH * (LONG_PRESS_TICKS + 1));
+
+ CHECK(short_press_count == 1);
+ CHECK(very_long_press_count == 0);
+ REQUIRE(long_press_count == 1);
+
+
+ btn->press(TICK_LENGTH * (VERY_LONG_PRESS_TICKS + 1));
+
+ CHECK(short_press_count == 1);
+ CHECK(long_press_count == 1);
+ REQUIRE(very_long_press_count == 1);
+ }
+
+ SECTION("Same callback")
+ {
+ registerOneCallback();
+ handler->start();
+
+ btn->press(TICK_LENGTH + 5);
+
+ CHECK(long_press_count == 0);
+ CHECK(very_long_press_count == 0);
+ REQUIRE(short_press_count == 1);
+
+ btn->press(TICK_LENGTH * (LONG_PRESS_TICKS + 1));
+
+ CHECK(short_press_count == 1);
+ CHECK(very_long_press_count == 0);
+ REQUIRE(long_press_count == 1);
+
+ btn->press(TICK_LENGTH * (VERY_LONG_PRESS_TICKS + 1));
+
+
+ CHECK(short_press_count == 1);
+ CHECK(long_press_count == 1);
+ REQUIRE(very_long_press_count == 1);
+ }
+}
+
+TEST_CASE_METHOD(ButtonHandlerTestFixture,
+ "ButtonHandler - Just short of each button press")
+{
+ SECTION("Different callbacks")
+ {
+ registerMultipleCallbacks();
+ handler->start();
+
+ REQUIRE(long_press_count == 0);
+ REQUIRE(very_long_press_count == 0);
+ REQUIRE(short_press_count == 0);
+
+ btn->press(TICK_LENGTH * (LONG_PRESS_TICKS - 1));
+
+ REQUIRE(short_press_count == 1);
+ REQUIRE(very_long_press_count == 0);
+ REQUIRE(long_press_count == 0);
+
+
+ btn->press(TICK_LENGTH * (VERY_LONG_PRESS_TICKS - 1));
+
+ REQUIRE(short_press_count == 1);
+ REQUIRE(long_press_count == 1);
+ REQUIRE(very_long_press_count == 0);
+ }
+
+ SECTION("Same callback")
+ {
+ registerOneCallback();
+ handler->start();
+
+ REQUIRE(long_press_count == 0);
+ REQUIRE(very_long_press_count == 0);
+ REQUIRE(short_press_count == 0);
+
+ btn->press(TICK_LENGTH * (LONG_PRESS_TICKS - 1));
+
+ REQUIRE(short_press_count == 1);
+ REQUIRE(very_long_press_count == 0);
+ REQUIRE(long_press_count == 0);
+
+
+ btn->press(TICK_LENGTH * (VERY_LONG_PRESS_TICKS - 1));
+
+ REQUIRE(short_press_count == 1);
+ REQUIRE(long_press_count == 1);
+ REQUIRE(very_long_press_count == 0);
+ }
+}
\ No newline at end of file