src/test/unit/cli_unittest.cc

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdint.h>
  19 #include <stdbool.h>
  20
  21 #include <limits.h>
  22
  23 #include <math.h>
  24
  25 extern "C" {
  26     #include "platform.h"
  27     #include "target.h"
  28     #include "build/version.h"
  29     #include "cli/cli.h"
  30     #include "cli/settings.h"
  31     #include "common/printf.h"
  32     #include "config/feature.h"
  33     #include "drivers/buf_writer.h"
  34     #include "drivers/vtx_common.h"
  35     #include "config/config.h"
  36     #include "fc/rc_adjustments.h"
  37     #include "fc/runtime_config.h"
  38     #include "flight/mixer.h"
  39     #include "flight/pid.h"
  40     #include "flight/servos.h"
  41     #include "io/beeper.h"
  42     #include "io/ledstrip.h"
  43     #include "io/serial.h"
  44     #include "io/vtx.h"
  45     #include "msp/msp.h"
  46     #include "msp/msp_box.h"
  47     #include "osd/osd.h"
  48     #include "pg/pg.h"
  49     #include "pg/pg_ids.h"
  50     #include "pg/beeper.h"
  51     #include "pg/rx.h"
  52     #include "rx/rx.h"
  53     #include "scheduler/scheduler.h"
  54     #include "sensors/battery.h"
  55     #include "sensors/gyro.h"
  56
  57     void cliSet(const char *cmdName, char *cmdline);
  58     int cliGetSettingIndex(char *name, uint8_t length);
  59     void *cliGetValuePointer(const clivalue_t *value);
  60
  61     const clivalue_t valueTable[] = {
  62         { "array_unit_test",   VAR_INT8  | MODE_ARRAY  | MASTER_VALUE, .config.array.length = 3,      PG_RESERVED_FOR_TESTING_1, 0 },
  63         { "str_unit_test",     VAR_UINT8 | MODE_STRING | MASTER_VALUE, .config.string = { 0, 16, 0 }, PG_RESERVED_FOR_TESTING_1, 0 },
  64         { "wos_unit_test",     VAR_UINT8 | MODE_STRING | MASTER_VALUE, .config.string = { 0, 16, STRING_FLAGS_WRITEONCE }, PG_RESERVED_FOR_TESTING_1, 0 },
  65     };
  66     const uint16_t valueTableEntryCount = ARRAYLEN(valueTable);
  67     const lookupTableEntry_t lookupTables[] = {};
  68     const char * const lookupTableOsdDisplayPortDevice[] = {};
  69
  70
  71     PG_REGISTER(osdConfig_t, osdConfig, PG_OSD_CONFIG, 0);
  72     PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
  73     PG_REGISTER(ledStripConfig_t, ledStripConfig, PG_LED_STRIP_CONFIG, 0);
  74     PG_REGISTER(ledStripStatusModeConfig_t, ledStripStatusModeConfig, PG_LED_STRIP_STATUS_MODE_CONFIG, 0);
  75     PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
  76     PG_REGISTER(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 0);
  77     PG_REGISTER_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges, PG_ADJUSTMENT_RANGE_CONFIG, 0);
  78     PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
  79     PG_REGISTER(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
  80     PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
  81     PG_REGISTER_ARRAY(servoParam_t, MAX_SUPPORTED_SERVOS, servoParams, PG_SERVO_PARAMS, 0);
  82     PG_REGISTER_ARRAY(servoMixer_t, MAX_SERVO_RULES, customServoMixers, PG_SERVO_MIXER, 0);
  83     PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0);
  84     PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
  85     PG_REGISTER(serialConfig_t, serialConfig, PG_SERIAL_CONFIG, 0);
  86     PG_REGISTER_ARRAY(rxChannelRangeConfig_t, NON_AUX_CHANNEL_COUNT, rxChannelRangeConfigs, PG_RX_CHANNEL_RANGE_CONFIG, 0);
  87     PG_REGISTER_ARRAY(rxFailsafeChannelConfig_t, MAX_SUPPORTED_RC_CHANNEL_COUNT, rxFailsafeChannelConfigs, PG_RX_FAILSAFE_CHANNEL_CONFIG, 0);
  88     PG_REGISTER(pidConfig_t, pidConfig, PG_PID_CONFIG, 0);
  89     PG_REGISTER(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
  90
  91     PG_REGISTER_WITH_RESET_FN(int8_t, unitTestData, PG_RESERVED_FOR_TESTING_1, 0);
  92 }
  93
  94 #include "unittest_macros.h"
  95 #include "gtest/gtest.h"
  96
  97 TEST(CLIUnittest, TestCliSetArray)
  98 {
  99     char *str = (char *)"array_unit_test    =   123,  -3  , 1";
 100     cliSet("", str);
 101
 102     const uint16_t index = cliGetSettingIndex(str, 15);
 103     EXPECT_LT(index, valueTableEntryCount);
 104
 105     const clivalue_t val = valueTable[index];
 106
 107     printf("\n===============================\n");
 108     int8_t *data = (int8_t *)cliGetValuePointer(&val);
 109     for(int i=0; i < val.config.array.length; i++){
 110         printf("data[%d] = %d\n", i, data[i]);
 111     }
 112     printf("\n===============================\n");
 113
 114
 115     EXPECT_EQ(123, data[0]);
 116     EXPECT_EQ( -3, data[1]);
 117     EXPECT_EQ(  1, data[2]);
 118 }
 119
 120 TEST(CLIUnittest, TestCliSetStringNoFlags)
 121 {
 122     char *str = (char *)"str_unit_test    =   SAMPLE";
 123     cliSet("", str);
 124
 125     const uint16_t index = cliGetSettingIndex(str, 13);
 126     EXPECT_LT(index, valueTableEntryCount);
 127
 128     const clivalue_t val = valueTable[index];
 129
 130     printf("\n===============================\n");
 131     uint8_t *data = (uint8_t *)cliGetValuePointer(&val);
 132     for(int i = 0; i < val.config.string.maxlength && data[i] != 0; i++){
 133         printf("data[%d] = %d (%c)\n", i, data[i], data[i]);
 134     }
 135     printf("\n===============================\n");
 136
 137
 138     EXPECT_EQ('S', data[0]);
 139     EXPECT_EQ('A', data[1]);
 140     EXPECT_EQ('M', data[2]);
 141     EXPECT_EQ('P', data[3]);
 142     EXPECT_EQ('L', data[4]);
 143     EXPECT_EQ('E', data[5]);
 144     EXPECT_EQ(0,   data[6]);
 145 }
 146
 147 TEST(CLIUnittest, TestCliSetStringWriteOnce)
 148 {
 149     char *str1 = (char *)"wos_unit_test    =   SAMPLE";
 150     char *str2 = (char *)"wos_unit_test    =   ELPMAS";
 151     cliSet("", str1);
 152
 153     const uint16_t index = cliGetSettingIndex(str1, 13);
 154     EXPECT_LT(index, valueTableEntryCount);
 155
 156     const clivalue_t val = valueTable[index];
 157
 158     printf("\n===============================\n");
 159     uint8_t *data = (uint8_t *)cliGetValuePointer(&val);
 160     for(int i = 0; i < val.config.string.maxlength && data[i] != 0; i++){
 161         printf("data[%d] = %d (%c)\n", i, data[i], data[i]);
 162     }
 163     printf("\n===============================\n");
 164
 165     EXPECT_EQ('S', data[0]);
 166     EXPECT_EQ('A', data[1]);
 167     EXPECT_EQ('M', data[2]);
 168     EXPECT_EQ('P', data[3]);
 169     EXPECT_EQ('L', data[4]);
 170     EXPECT_EQ('E', data[5]);
 171     EXPECT_EQ(0,   data[6]);
 172
 173     cliSet("", str2);
 174
 175     EXPECT_EQ('S', data[0]);
 176     EXPECT_EQ('A', data[1]);
 177     EXPECT_EQ('M', data[2]);
 178     EXPECT_EQ('P', data[3]);
 179     EXPECT_EQ('L', data[4]);
 180     EXPECT_EQ('E', data[5]);
 181     EXPECT_EQ(0,   data[6]);
 182
 183     cliSet("", str1);
 184
 185     EXPECT_EQ('S', data[0]);
 186     EXPECT_EQ('A', data[1]);
 187     EXPECT_EQ('M', data[2]);
 188     EXPECT_EQ('P', data[3]);
 189     EXPECT_EQ('L', data[4]);
 190     EXPECT_EQ('E', data[5]);
 191     EXPECT_EQ(0,   data[6]);
 192
 193     printf("\n");
 194 }
 195
 196 // STUBS
 197 extern "C" {
 198
 199 float motor_disarmed[MAX_SUPPORTED_MOTORS];
 200
 201 uint16_t batteryWarningVoltage;
 202 uint8_t useHottAlarmSoundPeriod (void) { return 0; }
 203 const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000, 400000}; // see baudRate_e
 204
 205 uint8_t debugMode;
 206 int32_t schedLoopStartCycles;
 207 int32_t taskGuardCycles;
 208
 209 uint32_t micros(void) {return 0;}
 210
 211 int32_t getAmperage(void) {
 212     return 100;
 213 }
 214
 215 uint16_t getBatteryVoltage(void) {
 216     return 42;
 217 }
 218
 219 batteryState_e getBatteryState(void) {
 220     return BATTERY_OK;
 221 }
 222
 223 uint8_t calculateBatteryPercentageRemaining(void) {
 224     return 67;
 225 }
 226
 227 uint8_t getMotorCount() {
 228     return 4;
 229 }
 230
 231 size_t getEEPROMStorageSize() {
 232     return 0;
 233 }
 234
 235
 236 void setPrintfSerialPort(struct serialPort_s) {}
 237
 238 static const box_t boxes[] = { { 0, "DUMMYBOX", 0 } };
 239 const box_t *findBoxByPermanentId(uint8_t) { return &boxes[0]; }
 240 const box_t *findBoxByBoxId(boxId_e) { return &boxes[0]; }
 241
 242 int8_t unitTestDataArray[3];
 243
 244 void pgResetFn_unitTestData(int8_t *ptr) {
 245     ptr = &unitTestDataArray[0];
 246 }
 247
 248 uint32_t getBeeperOffMask(void) { return 0; }
 249 uint32_t getPreferredBeeperOffMask(void) { return 0; }
 250
 251 void beeper(beeperMode_e) {}
 252 void beeperSilence(void) {}
 253 void beeperConfirmationBeeps(uint8_t) {}
 254 void beeperWarningBeeps(uint8_t) {}
 255 void beeperUpdate(timeUs_t) {}
 256 uint32_t getArmingBeepTimeMicros(void) {return 0;}
 257 beeperMode_e beeperModeForTableIndex(int) {return BEEPER_SILENCE;}
 258 uint32_t beeperModeMaskForTableIndex(int idx) {UNUSED(idx); return 0;}
 259 const char *beeperNameForTableIndex(int) {return NULL;}
 260 int beeperTableEntryCount(void) {return 0;}
 261 bool isBeeperOn(void) {return false;}
 262 void beeperOffSetAll(uint8_t) {}
 263 void setBeeperOffMask(uint32_t) {}
 264 void setPreferredBeeperOffMask(uint32_t) {}
 265
 266 void beeperOffSet(uint32_t) {}
 267 void beeperOffClear(uint32_t) {}
 268 void beeperOffClearAll(void) {}
 269 bool parseColor(int, const char *) {return false; }
 270 bool resetEEPROM(bool) { return true; }
 271 void bufWriterFlush(bufWriter_t *) {}
 272 void mixerResetDisarmedMotors(void) {}
 273 void gpsEnablePassthrough(struct serialPort_s *) {}
 274 bool parseLedStripConfig(int, const char *){return false; }
 275 const char rcChannelLetters[] = "AERT12345678abcdefgh";
 276
 277 void parseRcChannels(const char *, rxConfig_t *){}
 278 void mixerLoadMix(int, motorMixer_t *) {}
 279 bool setModeColor(ledModeIndex_e, int, int) { return false; }
 280 float motorConvertFromExternal(uint16_t) { return 1.0; }
 281 void motorShutdown(void) { }
 282 uint8_t getCurrentPidProfileIndex(void){ return 1; }
 283 uint8_t getCurrentControlRateProfileIndex(void){ return 1; }
 284 void changeControlRateProfile(uint8_t) {}
 285 void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *) {}
 286 void writeEEPROM() {}
 287 serialPortConfig_t *serialFindPortConfigurationMutable(serialPortIdentifier_e) {return NULL; }
 288 baudRate_e lookupBaudRateIndex(uint32_t){return BAUD_9600; }
 289 serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e){ return NULL; }
 290 serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, void *, uint32_t, portMode_e, portOptions_e) { return NULL; }
 291 void serialSetBaudRate(serialPort_t *, uint32_t) {}
 292 void serialSetMode(serialPort_t *, portMode_e) {}
 293 void serialPassthrough(serialPort_t *, serialPort_t *, serialConsumer *, serialConsumer *) {}
 294 uint32_t millis(void) { return 0; }
 295 uint8_t getBatteryCellCount(void) { return 1; }
 296 void servoMixerLoadMix(int) {}
 297 const char * getBatteryStateString(void){ return "_getBatteryStateString_"; }
 298
 299 uint32_t stackTotalSize(void) { return 0x4000; }
 300 uint32_t stackHighMem(void) { return 0x80000000; }
 301 uint16_t getEEPROMConfigSize(void) { return 1024; }
 302
 303 uint8_t __config_start = 0x00;
 304 uint8_t __config_end = 0x10;
 305 uint16_t averageSystemLoadPercent = 0;
 306
 307 timeDelta_t getTaskDeltaTimeUs(taskId_e){ return 0; }
 308 uint16_t currentRxRefreshRate = 9000;
 309 armingDisableFlags_e getArmingDisableFlags(void) { return ARMING_DISABLED_NO_GYRO; }
 310
 311 const char *armingDisableFlagNames[]= {
 312 "DUMMYDISABLEFLAGNAME"
 313 };
 314
 315 void getTaskInfo(taskId_e, taskInfo_t *) {}
 316 void getCheckFuncInfo(cfCheckFuncInfo_t *) {}
 317 void schedulerResetTaskMaxExecutionTime(taskId_e) {}
 318 void schedulerResetCheckFunctionMaxExecutionTime(void) {}
 319
 320 const char * const targetName = "UNITTEST";
 321 const char* const buildDate = "Jan 01 2017";
 322 const char * const buildTime = "00:00:00";
 323 const char * const shortGitRevision = "MASTER";
 324
 325 uint32_t serialRxBytesWaiting(const serialPort_t *) {return 0;}
 326 uint8_t serialRead(serialPort_t *){return 0;}
 327
 328 void bufWriterAppend(bufWriter_t *, uint8_t ch){ printf("%c", ch); }
 329 void serialWriteBufShim(void *, const uint8_t *, int) {}
 330 bufWriter_t *bufWriterInit(uint8_t *, int, bufWrite_t, void *) {return NULL;}
 331 void setArmingDisabled(armingDisableFlags_e) {}
 332
 333 void waitForSerialPortToFinishTransmitting(serialPort_t *) {}
 334 void systemResetToBootloader(void) {}
 335 void resetConfig(void) {}
 336 void systemReset(void) {}
 337 void writeUnmodifiedConfigToEEPROM(void) {}
 338
 339 void changePidProfile(uint8_t) {}
 340 bool serialIsPortAvailable(serialPortIdentifier_e) { return false; }
 341 void generateLedConfig(ledConfig_t *, char *, size_t) {}
 342 bool isSerialTransmitBufferEmpty(const serialPort_t *) {return true; }
 343 void serialWrite(serialPort_t *, uint8_t ch) { printf("%c", ch);}
 344
 345 void serialSetCtrlLineStateCb(serialPort_t *, void (*)(void *, uint16_t ), void *) {}
 346 void serialSetCtrlLineStateDtrPin(serialPort_t *, ioTag_t ) {}
 347 void serialSetCtrlLineState(serialPort_t *, uint16_t ) {}
 348
 349 void serialSetBaudRateCb(serialPort_t *, void (*)(serialPort_t *context, uint32_t baud), serialPort_t *) {}
 350
 351 char *getBoardName(void) { return NULL; }
 352 char *getManufacturerId(void) { return NULL; }
 353 bool boardInformationIsSet(void) { return true; }
 354
 355 bool setBoardName(char *newBoardName) { UNUSED(newBoardName); return true; };
 356 bool setManufacturerId(char *newManufacturerId) { UNUSED(newManufacturerId); return true; };
 357 bool persistBoardInformation(void) { return true; };
 358
 359 void activeAdjustmentRangeReset(void) {}
 360 void analyzeModeActivationConditions(void) {}
 361 bool isModeActivationConditionConfigured(const modeActivationCondition_t *, const modeActivationCondition_t *) { return false; }
 362
 363 void delay(uint32_t) {}
 364 displayPort_t *osdGetDisplayPort(osdDisplayPortDevice_e *) { return NULL; }
 365 mcuTypeId_e getMcuTypeId(void) { return MCU_TYPE_UNKNOWN; }
 366 uint16_t getCurrentRxRefreshRate(void) { return 0; }
 367 uint16_t getAverageSystemLoadPercent(void) { return 0; }
 368 }