From 8863edf78b38b38ab5323086d73e125a68ae8018 Mon Sep 17 00:00:00 2001
From: Brendan Bartels <bbartels@iastate.edu>
Date: Thu, 30 Mar 2017 13:17:02 -0500
Subject: [PATCH] quad: Add UART tests to CI
---
quad/Makefile | 1 +
quad/scripts/tests/test_unix_uart.py | 54 --------------------
quad/scripts/tests/test_unix_uart.rb | 68 ++++++++++++++++++++++++++
quad/src/virt_quad/hw_impl_unix_uart.c | 6 ++-
4 files changed, 73 insertions(+), 56 deletions(-)
delete mode 100755 quad/scripts/tests/test_unix_uart.py
create mode 100644 quad/scripts/tests/test_unix_uart.rb
diff --git a/quad/Makefile b/quad/Makefile
index 98427ec80..f27a39d37 100644
--- a/quad/Makefile
+++ b/quad/Makefile
@@ -39,6 +39,7 @@ test: all
$(MAKE) -C src/computation_graph test
$(MAKE) -C src/quad_app test
ruby scripts/tests/test_safety_checks.rb
+ ruby scripts/tests/test_unix_uart.rb
clean:
rm -rf $(INCDIR) $(LIBDIR) $(OUTDIR) $(EXEDIR)
diff --git a/quad/scripts/tests/test_unix_uart.py b/quad/scripts/tests/test_unix_uart.py
deleted file mode 100755
index 760f545a1..000000000
--- a/quad/scripts/tests/test_unix_uart.py
+++ /dev/null
@@ -1,54 +0,0 @@
-#!/usr/bin/env python
-
-import sys
-import time
-import os
-
-import threading
-
-path = os.path.dirname(__file__) + '/../../bin/virt-quad-fifos/'
-
-def create_msg():
- msg = bytes()
- msg += b'\xBE'
-
- msg += b'\x01'
- msg += b'\x00'
-
- msg += b'\x00'
- msg += b'\x00'
-
- msg += b'\x00'
- msg += b'\x00'
-
- print msg
-
- checksum = 0
- for b in msg:
- checksum ^= b
- msg += checksum.to_bytes(1, 'little')
- return msg
-
-def listen():
- with open(path + 'uart-tx', 'r') as fifo:
- while True:
- c = fifo.read()
- if c:
- print c
-
-def do_test():
- # Start a listener
- t = threading.Thread(target=listen)
- t.daemon = True
- t.start()
-
- fifo = open(path + 'uart-rx', 'w')
- fifo.write(b'\xBE\x01\x00\x00\x00\x00\x00\xBF')
- fifo.write(b'\xBE\x01\x00\x00\x00\x00\x00\xBF')
- fifo.write(b'\xBE\x01\x00\x00\x00\x00\x00\xBF')
-
-if __name__ == '__main__':
- for i in range(1):
- print("Test ", i)
- do_test()
- time.sleep(1)
diff --git a/quad/scripts/tests/test_unix_uart.rb b/quad/scripts/tests/test_unix_uart.rb
new file mode 100644
index 000000000..6621744e3
--- /dev/null
+++ b/quad/scripts/tests/test_unix_uart.rb
@@ -0,0 +1,68 @@
+#!/usr/bin/env ruby
+
+
+# UART test
+#
+# This test is pretty simple, just a UART smoke test, using
+# the debug callback on the quad
+
+GEAR_ON = 170800
+GEAR_OFF = 118300
+
+GEAR = "virt-quad-fifos/pwm-input-gear"
+UART_RX = "virt-quad-fifos/uart-rx"
+UART_TX = "virt-quad-fifos/uart-tx"
+
+require 'test/unit/assertions'
+require 'thread'
+include Test::Unit::Assertions
+
+script_dir = File.expand_path(File.dirname(__FILE__))
+bin_dir = script_dir + "/../../bin/"
+Dir.chdir(bin_dir)
+
+# Start virtual quad
+quad = Process.spawn("./virt-quad")
+
+sleep 1
+
+#################
+# Begin Tests
+#################
+
+begin
+
+ # Flip gear on
+ File.write(GEAR, GEAR_ON)
+ sleep 0.015
+
+ 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)
+ msg = []
+ for i in 1..7
+ sleep 0.010
+ msg.push(fifo.read(1))
+ end
+ 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}")
+ end
+
+ puts "Basic UART test passed."
+
+ensure
+
+ Process.kill(9, quad)
+
+end
+
diff --git a/quad/src/virt_quad/hw_impl_unix_uart.c b/quad/src/virt_quad/hw_impl_unix_uart.c
index 5790bb2f4..e39fbedfc 100644
--- a/quad/src/virt_quad/hw_impl_unix_uart.c
+++ b/quad/src/virt_quad/hw_impl_unix_uart.c
@@ -4,13 +4,11 @@
#include <sys/types.h>
#include <fcntl.h>
-static char *fifo_name_rx;
static char *fifo_full_name_rx;
static char *fifo_full_name_tx;
static int fifo_rx;
int unix_uart_reset(struct UARTDriver *self) {
- fifo_name_rx = "uart-rx";
fifo_full_name_rx = VIRT_QUAD_FIFOS_DIR "/uart-rx";
fifo_full_name_tx = VIRT_QUAD_FIFOS_DIR "/uart-tx";
@@ -30,6 +28,7 @@ int unix_uart_reset(struct UARTDriver *self) {
int unix_uart_write(struct UARTDriver *self, unsigned char c) {
int fifo = open(fifo_full_name_tx, O_WRONLY | O_NONBLOCK);
if (fifo >= 0) {
+ printf("%s: %x\n", "uart-tx", c);
write(fifo, &c, 1);
}
close(fifo);
@@ -38,5 +37,8 @@ int unix_uart_write(struct UARTDriver *self, unsigned char c) {
int unix_uart_read(struct UARTDriver *self, unsigned char *c) {
int err = read(fifo_rx, c, 1);
+ if (err > 0) {
+ printf("%s: %x\n", "uart-rx", *c);
+ }
return err <= 0;
}
--
GitLab