[FMM-TEST] Added simple test for error state transition

sbs.conf

@@ -183,7 +183,7 @@ Type:       board
 BoardId:    stm32f429zi_skyward_homeone
 BinName:    test-fmm
 Include:	%shared %homeone %logger
-Defines:   -DDEBUG
+Defines:    
 Main:       test-fmm
 
 [test-timer]

src/entrypoints/test-fmm.cpp

-#define CATCH_CONFIG_MAIN  // This tells Catch to provide a main() - only do this in one cpp file
+#define CATCH_CONFIG_RUNNER
 #define CATCH_CONFIG_NO_POSIX_SIGNALS
 #define CATCH_CONFIG_NO_CPP11_GENERATED_METHODS
 #define CATCH_CONFIG_NO_CPP11_TYPE_TRAITS
 
+#include <miosix.h>
 #include <catch.hpp>
+#include <string>
+#include <vector>
+
+#include "boards/Homeone/Events.h"
+#include "boards/Homeone/FlightModeManager/FlightModeManager.h"
+#include "boards/Homeone/Topics.h"
+#include "drivers/HardwareTimer.h"
+#include "events/EventBroker.h"
+
+using namespace HomeoneBoard;
+using HomeoneBoard::FMM::FlightModeManager;
+
+using miosix::Thread;
+using std::string;
+using std::vector;
+
+using Timer = HardwareTimer<uint32_t, 2>;
+
+template <typename TimerType>
+class ExecutionProfiler
+{
+public:
+    ExecutionProfiler(TimerType& timer) : hw_timer(timer) {}
+
+    void start(string msg)
+    {
+        current_msg = msg;
+        printf("%s START\n", msg.c_str());
+#ifdef DEBUG
+        printf("DEBUG is defined. Execution times may not be correct.\n",
+               msg.c_str());
+#endif
+        hw_timer.stop();
+        hw_timer.start();
+    }
 
-int Factorial( int number ) {
-
-   return number <= 1 ? number : Factorial( number - 1 ) * number;  // fail
-
-// return number <= 1 ? 1      : Factorial( number - 1 ) * number;  // pass
-
+    void tick()
+    {
+        auto tick = hw_timer.tick();
+        printf("%s\nTime: %.3f (%.3f us)\n", current_msg.c_str(),
+               hw_timer.toMilliSeconds(tick), hw_timer.toMicroSeconds(tick));
     }
 
+    void stop()
+    {
+        auto tick = hw_timer.stop();
+        printf("%s\nTotal execution time: %.3f ms (%.3f us)\n",
+               current_msg.c_str(), hw_timer.toMilliSeconds(tick),
+               hw_timer.toMicroSeconds(tick));
+    }
 
-TEST_CASE( "Factorial of 0 is 1 (fail)", "[single-file]" ) {
+private:
+    string current_msg = "";
+    TimerType& hw_timer;
+};
 
-    REQUIRE( Factorial(0) == 1 );
+int main()
+{
+    int result = Catch::Session().run();
 
+    for (;;)
+    {
+        printf("end.\n");
+        Thread::sleep(10000);
+    }
 }
 
+void checkTransition(FlightModeManager& mgr, FMMState previous,
+                     FMMState expected)
+{
+    for (int i = 0; i < 1000; i++)
+    {
+        if (i == 999)
+            FAIL("Transition timeout\n");  // Fail the test. The state machine
+                                           // didn't change the state
+        if (mgr.getStatus().state != previous)
+            break;
+        usleep(100);
+    }
 
-TEST_CASE( "Factorials of 1 and higher are computed (pass)", "[single-file]" ) {
-
-    REQUIRE( Factorial(1) == 1 );
+    REQUIRE(mgr.getStatus().state == expected);
+}
 
-    REQUIRE( Factorial(2) == 2 );
+TEST_CASE("FlightModeManager", "[fmm]")
+{
+    Timer& tim = Timer::instance();
+    tim.setPrescaler(83);
 
-    REQUIRE( Factorial(3) == 6 );
+    ExecutionProfiler<Timer> ep{tim};
 
-    REQUIRE( Factorial(10) == 3628800 );
+    FlightModeManager& mgr = *FlightModeManager::getInstance();
+    mgr.start();
+    checkTransition(mgr, FMMState::UNDEFINED, FMMState::INIT);
 
+    ep.start("Profiling init error.");
+    sEventBroker->post({EV_INIT_ERROR}, TOPIC_FLIGHT_EVENTS);
+    // ep.tick();
+    checkTransition(mgr, FMMState::INIT, FMMState::ERROR);
+    ep.stop();
 }
\ No newline at end of file

src/entrypoints/test-timer.cpp

@@ -29,33 +29,16 @@ using miosix::Thread;
 
 int main()
 {
-    HardwareTimer<uint32_t, 2> timer2 = HardwareTimer<uint32_t, 2>::instance();
-    HardwareTimer<uint16_t, 10> timer1 =
-        HardwareTimer<uint16_t, 10>::instance();
-/*
-    timer1.setPrescaler(9999);
-    timer1.start();
-    timer2.start();
-    int i = 0;
-    for (;;)
-    {
-        uint32_t start2 = timer2.tick();
-        Thread::sleep(10 * pow(10, i));
-        uint32_t end2 = timer2.tick();
+    HardwareTimer<uint32_t, 2>& timer2 = HardwareTimer<uint32_t, 2>::instance();
 
-        uint16_t start1 = timer1.start();
-        Thread::sleep(10 * pow(10, i));
-        uint16_t end1 = timer1.tick();
+    timer2.start();
 
-        uint32_t t2 = end2 - start2;
-        uint32_t t1 = end1 - start1;
+    while (true)
+    {
+        uint32_t tick = timer2.tick();
+        printf("%d\t\t(%.3f)\n", tick, timer2.toMilliSeconds(tick));
 
-        printf("Timer1: %.6f, %.3f, %.3f\n", timer1.toSeconds(t1),
-               timer1.toMilliSeconds(t1), timer1.toMicroSeconds(t1));
-        printf("Timer2: %.6f, %.3f, %.3f\n\n", timer2.toSeconds(t2),
-               timer2.toMilliSeconds(t2), timer2.toMicroSeconds(t2));
-        i++;
+        usleep(100000);
     }
-    */
     return 0;
 }
\ No newline at end of file

src/shared/boards/Homeone/FlightModeManager/FMMStatus.h

@@ -27,6 +27,7 @@
 
 enum class FMMState : uint8_t
 {
+    UNDEFINED,
     INIT,
     TESTING,
     ERROR,
@@ -42,7 +43,7 @@ enum class FMMState : uint8_t
 
 struct FMMStatus
 {
-    FMMState state;
+    FMMState state = FMMState::UNDEFINED;
 };
 
 #endif /* SRC_SHARED_BOARDS_HOMEONE_FLIGHTMODEMANAGER_FMMSTATUS_H */

src/shared/boards/Homeone/FlightModeManager/FlightModeManager.cpp

@@ -34,7 +34,7 @@ namespace HomeoneBoard
 namespace FMM
 {
 
-FlightModeManager::FlightModeManager() : FSM(&FlightModeManager::stateDisarmed)
+FlightModeManager::FlightModeManager() : FSM(&FlightModeManager::stateInit)
 {
     sEventBroker->subscribe(this, TOPIC_TC);
     sEventBroker->subscribe(this, TOPIC_FLIGHT_EVENTS);