quad: re-enable communciation functional test

- and improve output of functional tests overall

quad/Makefile

@@ -40,7 +40,7 @@ test: all
 	$(MAKE) -C src/quad_app test
 	ruby scripts/tests/test_safety_checks.rb
 	ruby scripts/tests/test_memory_integrity.rb
-	# ruby scripts/tests/test_unix_uart.rb
+	ruby scripts/tests/test_communication.rb
 
 clean:
 	rm -rf $(INCDIR) $(LIBDIR) $(OUTDIR) $(EXEDIR)

quad/scripts/tests/test_unix_uart.rb → quad/scripts/tests/test_communication.rb

@@ -11,7 +11,6 @@ require script_dir + "/testing_library"
 bin_dir = script_dir + "/../../bin/"
 Dir.chdir(bin_dir)
 
-
 Timeout::timeout(30) {
 
   puts("Setting up...")
@@ -23,7 +22,20 @@ Timeout::timeout(30) {
                            { :rlimit_as => 536870912, # 512 MiB total RAM
                              :rlimit_stack => 1048576}) # 1 MiB stack
 
-  delay_spin_cursor(5)
+  delay_spin_cursor(1)
+
+  # Set RC switches
+  set_gear GEAR_OFF
+  set_flap FLAP_OFF
+
+  # Set initial quad orientation (flat on the ground, facing forward)
+  `./virt-quad set i2c_imu_x 0`
+  `./virt-quad set i2c_imu_y 0`
+  `./virt-quad set i2c_imu_z -1`
+  `./virt-quad set rc_roll 0.498`
+  `./virt-quad set rc_pitch 0.497`
+  `./virt-quad set rc_yaw 0.498`
+
 
   #################
   #  Begin Tests
@@ -31,39 +43,25 @@ Timeout::timeout(30) {
 
   begin
 
-    puts("Beginning tests...")
-
-    # Flip gear on
-    File.write(GEAR, GEAR_ON)
-    sleep 0.015
+    puts "------------------------------------------"
+    puts "-- Beginning basic communication test..."
+    puts "------------------------------------------"
 
     for j in 1..10
+
       # Send a debug command
-      File.write(UART_RX, [0xBE, 1, 0, 0, 0, 0, 0, 0xBF].pack("CCCCCCCC"))
-
-      fifo = File.open(UART_TX)
-
-      # Receive the header
-      msg = []
-      for i in 1..7
-        sleep 0.010
-        msg.push(fifo.read(1))
-      end
-
-      # Receive the remaining data, according to the header specified length
-      length = msg[5..7].join().unpack("S")[0]
-      msg = []
-      for i in 1..length
-        sleep 0.010
-        msg.push(fifo.read(1))
-      end
-      fifo.close
-
-      puts msg.join()
-      assert_equal(msg.join().force_encoding("UTF-8"), "Packets received: #{j}")
+      Thread.new {
+        sleep 0.1
+        send_packet [0xBE, 1, 0, 0, 0, 0, 0, 0xBF]
+      }
+
+      msg = recv_packet
+      puts msg
+      assert_equal(msg.force_encoding("UTF-8"), "Packets received: #{j}")
     end
 
-    puts "Basic UART test passed."
+    puts "Basic communication test passed."
+    puts "------------------------------------------"
 
   ensure
 

quad/scripts/tests/test_memory_integrity.rb

@@ -26,7 +26,9 @@ set_flap FLAP_ON
 ##################
 
 begin
-  puts("Starting flight...")
+  puts "------------------------------------------"
+  puts "-- Beginning memory integrity test..."
+  puts "------------------------------------------"
 
   # Set initial quad orientation (flat on ground, facing forward)
   `./virt-quad set i2c_imu_x 0`
@@ -94,12 +96,14 @@ ensure
   everything = file.readlines
   last_line = everything.last
   errors = last_line.scanf("%s ERROR SUMMARY: %d errors %s")
+  puts everything
   if errors[1] > 0
-    puts everything
     puts "Memory Integrity Check Failed."
+    puts "------------------------------------------"
     Kernel.exit(1)
   end
 
   puts "Memory Integrity Check Passed."
+    puts "------------------------------------------"
 end
 

quad/scripts/tests/test_safety_checks.rb

@@ -40,7 +40,9 @@ Timeout::timeout(60) {
   #################
 
   begin
-    puts("Beginning tests...")
+    puts "------------------------------------------"
+    puts "-- Beginning safety checks test..."
+    puts "------------------------------------------"
 
     puts("Check that motors are off at startup")
     check_motors_are_off "Motors weren't off at startup! How dangerous!"
@@ -141,6 +143,7 @@ Timeout::timeout(60) {
     set_throttle THROTTLE_MIN
 
     puts "All safety checks passed."
+    puts "------------------------------------------"
 
   ensure
 

quad/scripts/tests/testing_library.rb

@@ -13,20 +13,6 @@ FLAP_ON = 0.9
 FLAP_OFF = 0.1
 GRAVITY = 4096
 
-MOTOR1 = "virt-quad-fifos/motor1"
-MOTOR2 = "virt-quad-fifos/motor2"
-MOTOR3 = "virt-quad-fifos/motor3"
-MOTOR4 = "virt-quad-fifos/motor4"
-
-GEAR = "virt-quad-fifos/rc-gear"
-THROTTLE = "virt-quad-fifos/rc-throttle"
-
-LED = "virt-quad-fifos/mio7-led"
-
-I2C_MPU_ACCEL_X = "virt-quad-fifos/i2c-mpu-accel-x"
-I2C_MPU_ACCEL_Y = "virt-quad-fifos/i2c-mpu-accel-y"
-I2C_MPU_ACCEL_Z = "virt-quad-fifos/i2c-mpu-accel-z"
-
 UART_RX = "virt-quad-fifos/uart-rx"
 UART_TX = "virt-quad-fifos/uart-tx"
 
@@ -92,3 +78,30 @@ def delay_spin_cursor(delay)
     print "\b"
   end
 end
+
+def send_packet(bytes)
+  File.write(UART_RX, bytes.pack("C" * bytes.length))
+end
+
+def recv_packet
+  fifo = File.open(UART_TX)
+
+  # Receive the header
+  msg = []
+  for i in 1..7
+    sleep 0.010
+    c = fifo.read(1)
+    msg.push(c)
+  end
+
+  # Receive the remaining data, according to the header specified length
+  length = msg[5..7].join().unpack("S")[0]
+  msg = []
+  for i in 1..length
+    sleep 0.010
+    msg.push(fifo.read(1))
+  end
+  fifo.close
+
+  msg.join()
+end