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i2c spi: add unittests for BusCLIArguments

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Beat Küng 2020-02-29 09:45:35 +01:00 committed by Daniel Agar
parent 134413233a
commit 87cd20180c
7 changed files with 298 additions and 0 deletions
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2
boards/px4/sitl/src/CMakeLists.txt
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@ -32,7 +32,9 @@
############################################################################
add_library(drivers_board
i2c.cpp
sitl_led.c
sitl_board_shutdown.c
spi.cpp
)

38
boards/px4/sitl/src/i2c.cpp Normal file
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@ -0,0 +1,38 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
};

39
boards/px4/sitl/src/spi.cpp Normal file
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@ -0,0 +1,39 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
};

1
src/systemcmds/tests/CMakeLists.txt
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@ -46,6 +46,7 @@ set(srcs
test_hott_telemetry.c
test_hrt.cpp
test_int.cpp
test_i2c_spi_cli.cpp
test_IntrusiveQueue.cpp
test_jig_voltages.c
test_led.c

216
src/systemcmds/tests/test_i2c_spi_cli.cpp Normal file
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@ -0,0 +1,216 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <unit_test.h>
#include <px4_platform_common/i2c_spi_buses.h>
class CLIArgsHelper
{
public:
CLIArgsHelper(const char *args[], int num_argc)
{
// get args into the right format: the first string is the module name, the last nullptr
int len = 0;
strcpy(_buf + len, "module");
len += strlen("module") + 1;
for (int i = 0; i < num_argc; ++i) {
strcpy(_buf + len, args[i]);
argv[i + 1] = _buf + len;
len += strlen(args[i]) + 1;
}
argc = num_argc + 1;
argv[argc] = nullptr;
}
int argc;
char *argv[32];
private:
char _buf[1024];
};
class I2CSPICLITest : public UnitTest
{
public:
virtual bool run_tests();
bool test_basic();
bool test_invalid();
bool test_custom();
};
bool I2CSPICLITest::run_tests()
{
ut_run_test(test_basic);
ut_run_test(test_invalid);
ut_run_test(test_custom);
return (_tests_failed == 0);
}
bool I2CSPICLITest::test_basic()
{
{
BusCLIArguments cli{true, true};
cli.default_i2c_frequency = 1234;
cli.default_spi_frequency = 12345;
const char *argv[] = { "start", "-I" };
CLIArgsHelper cli_args(argv, 2);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
ut_assert_true(verb != nullptr);
ut_assert_true(strcmp(verb, "start") == 0);
ut_assert_true(cli.bus_option == I2CSPIBusOption::I2CInternal);
ut_assert_true(cli.bus_frequency == cli.default_i2c_frequency);
}
{
BusCLIArguments cli{true, true};
cli.default_i2c_frequency = 1234;
cli.default_spi_frequency = 12345;
const char *argv[] = { "start", "-s", "-f", "10"};
CLIArgsHelper cli_args(argv, 4);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
ut_assert_true(verb != nullptr);
ut_assert_true(strcmp(verb, "start") == 0);
ut_assert_true(cli.bus_option == I2CSPIBusOption::SPIInternal);
ut_assert_true(cli.bus_frequency == 10000);
}
{
BusCLIArguments cli{true, true};
const char *argv[] = { "-S", "-b", "3", "stop"};
CLIArgsHelper cli_args(argv, 4);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
ut_assert_true(verb != nullptr);
ut_assert_true(strcmp(verb, "stop") == 0);
ut_assert_true(cli.bus_option == I2CSPIBusOption::SPIExternal);
ut_assert_true(cli.requested_bus == 3);
}
{
BusCLIArguments cli{true, true};
cli.i2c_address = 0xab;
const char *argv[] = { "start", "-X", "-a", "0x14"};
CLIArgsHelper cli_args(argv, 4);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
ut_assert_true(verb != nullptr);
ut_assert_true(strcmp(verb, "start") == 0);
ut_assert_true(cli.bus_option == I2CSPIBusOption::I2CExternal);
ut_assert_true(cli.i2c_address == 0x14);
}
return true;
}
bool I2CSPICLITest::test_invalid()
{
{
// SPI disabled, but SPI option provided
BusCLIArguments cli{true, false};
const char *argv[] = { "start", "-S"};
CLIArgsHelper cli_args(argv, 2);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
ut_assert_true(verb == nullptr);
}
{
// Unknown argument
BusCLIArguments cli{true, true};
const char *argv[] = { "start", "-I", "-x", "3"};
CLIArgsHelper cli_args(argv, 3);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
ut_assert_true(verb == nullptr);
}
{
// Another unknown argument
BusCLIArguments cli{true, true};
const char *argv[] = { "-x", "start" };
CLIArgsHelper cli_args(argv, 2);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
ut_assert_true(verb == nullptr);
}
return true;
}
bool I2CSPICLITest::test_custom()
{
{
// custom argument
BusCLIArguments cli{true, true};
const char *argv[] = { "start", "-T", "432", "-a", "12"};
CLIArgsHelper cli_args(argv, 5);
int ch;
int T = 0;
int a = 0;
while ((ch = cli.getopt(cli_args.argc, cli_args.argv, "T:a:")) != EOF) {
switch (ch) {
case 'T': T = atoi(cli.optarg());
break;
case 'a': a = atoi(cli.optarg());
break;
}
}
const char *verb = cli.optarg();
ut_assert_true(verb != nullptr);
ut_assert_true(strcmp(verb, "start") == 0);
ut_assert_true(T == 432);
ut_assert_true(a == 12);
}
{
// duplicate argument
BusCLIArguments cli{true, true};
const char *argv[] = { "start"};
CLIArgsHelper cli_args(argv, 1);
int ch;
while ((ch = cli.getopt(cli_args.argc, cli_args.argv, "I:")) != EOF) {
switch (ch) {
case 'I': ut_assert_true(false); // must not get here, because 'I' is already used
break;
}
}
const char *verb = cli.optarg();
ut_assert_true(verb == nullptr);
}
return true;
}
ut_declare_test_c(test_i2c_spi_cli, I2CSPICLITest)

1
src/systemcmds/tests/tests_main.c
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@ -90,6 +90,7 @@ const struct {
{"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST},
{"int", test_int, 0},
{"i2c_spi_cli", test_i2c_spi_cli, 0},
{"IntrusiveQueue", test_IntrusiveQueue, 0},
{"jig_voltages", test_jig_voltages, OPT_NOALLTEST},
{"List", test_List, 0},

1
src/systemcmds/tests/tests_main.h
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@ -57,6 +57,7 @@ extern int test_float(int argc, char *argv[]);
extern int test_hott_telemetry(int argc, char *argv[]);
extern int test_hrt(int argc, char *argv[]);
extern int test_int(int argc, char *argv[]);
extern int test_i2c_spi_cli(int argc, char *argv[]);
extern int test_IntrusiveQueue(int argc, char *argv[]);
extern int test_jig_voltages(int argc, char *argv[]);
extern int test_led(int argc, char *argv[]);