src/test/msp_native/msp_tests.cpp

   1 #include <unity.h>
   2 #include "msp.h"
   3 #include "mock_serial.h"
   4
   5 MSP MSPProtocol;
   6
   7 void test_msp_receive(void)
   8 {
   9     // TEST CASE:
  10     // GIVEN an instance of the MSP class has been instantiated
  11     // WHEN a valid packet is send to processReceivedByte() one byte at a time
  12     // THEN the complete packet will be available via getReceivedPacket()
  13     // AND the packet values will match the values from the sent bytes
  14
  15     uint8_t c;
  16     bool packetComplete;
  17
  18     c = '$';
  19     packetComplete = MSPProtocol.processReceivedByte(c);
  20     TEST_ASSERT_EQUAL(false, packetComplete);
  21
  22     c = 'X';
  23     packetComplete = MSPProtocol.processReceivedByte(c);
  24     TEST_ASSERT_EQUAL(false, packetComplete);
  25
  26     c = '<'; // command
  27     packetComplete = MSPProtocol.processReceivedByte(c);
  28     TEST_ASSERT_EQUAL(false, packetComplete);
  29
  30     c = 0; // flags
  31     packetComplete = MSPProtocol.processReceivedByte(c);
  32     TEST_ASSERT_EQUAL(false, packetComplete);
  33
  34     c = 1; // function b1
  35     packetComplete = MSPProtocol.processReceivedByte(c);
  36     TEST_ASSERT_EQUAL(false, packetComplete);
  37
  38     c = 0; // function b2
  39     packetComplete = MSPProtocol.processReceivedByte(c);
  40     TEST_ASSERT_EQUAL(false, packetComplete);
  41
  42     c = 1; // payload size b1
  43     packetComplete = MSPProtocol.processReceivedByte(c);
  44     TEST_ASSERT_EQUAL(false, packetComplete);
  45
  46     c = 0; // payload size b2
  47     packetComplete = MSPProtocol.processReceivedByte(c);
  48     TEST_ASSERT_EQUAL(false, packetComplete);
  49
  50     c = 'A'; // payload
  51     packetComplete = MSPProtocol.processReceivedByte(c);
  52     TEST_ASSERT_EQUAL(false, packetComplete);
  53
  54     c = 125; // crc
  55     packetComplete = MSPProtocol.processReceivedByte(c);
  56     TEST_ASSERT_EQUAL(true, packetComplete);
  57
  58     // Assert that values in packet match sent values
  59     mspPacket_t* packet = MSPProtocol.getReceivedPacket();
  60     TEST_ASSERT_EQUAL(MSP_PACKET_COMMAND, packet->type);
  61     TEST_ASSERT_EQUAL(0, packet->flags);
  62     TEST_ASSERT_EQUAL(1, packet->function);
  63     TEST_ASSERT_EQUAL(1, packet->payloadSize);
  64     TEST_ASSERT_EQUAL('A', (char)packet->payload[0]);
  65 }
  66
  67 void test_msp_send(void)
  68 {
  69     // TEST CASE:
  70     // GIVEN an instance of the MSP class has been instantiated
  71     // WHEN a valid packet is passed as an argument to sendPacket()
  72     // THEN the complete packet will be transmitted to the passed in Stream object
  73     // AND the return value will be true
  74
  75     // Build an MSP reply packet
  76     mspPacket_t packet;
  77     packet.reset();
  78     packet.makeResponse();
  79     packet.flags = 0;
  80     packet.function = 1;
  81     packet.addByte(1);
  82
  83     // Mock out the serial port using a string stream
  84     std::string buf;
  85     StringStream ss(buf);
  86
  87     // Ask the MSP class to send the packet to the stream
  88     bool result = MSPProtocol.sendPacket(&packet, &ss);
  89     TEST_ASSERT_EQUAL(true, result);    // success?
  90
  91     // Assert that each byte sent matches expected
  92     TEST_ASSERT_EQUAL('$', buf[0]);
  93     TEST_ASSERT_EQUAL('X', buf[1]);
  94     TEST_ASSERT_EQUAL('>', buf[2]);
  95     TEST_ASSERT_EQUAL(0, buf[3]);       // flags
  96     TEST_ASSERT_EQUAL(1, buf[4]);       // lower byte of function
  97     TEST_ASSERT_EQUAL(0, buf[5]);       // upper byte of function
  98     TEST_ASSERT_EQUAL(1, buf[6]);       // lower byte of payload size
  99     TEST_ASSERT_EQUAL(0, buf[7]);       // upper byte of payload size
 100     TEST_ASSERT_EQUAL(1, buf[8]);       // payload
 101     TEST_ASSERT_EQUAL(224, (uint8_t)buf[9]);     // crc
 102 }
 103
 104 extern void test_encapsulated_msp_send(void);
 105 extern void test_encapsulated_msp_send_too_long(void);
 106
 107 int main(int argc, char **argv)
 108 {
 109     UNITY_BEGIN();
 110     RUN_TEST(test_msp_receive);
 111     RUN_TEST(test_msp_send);
 112
 113     RUN_TEST(test_encapsulated_msp_send);
 114     RUN_TEST(test_encapsulated_msp_send_too_long);
 115
 116     UNITY_END();
 117
 118     return 0;
 119 }