#!/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'
require 'timeout'
include Test::Unit::Assertions

Timeout::timeout(30) {

  puts("Setting up...")

  script_dir = File.expand_path(File.dirname(__FILE__))
  bin_dir = script_dir + "/../../bin/"
  Dir.chdir(bin_dir)

  sleep 1

  # Start virtual quad
  quad_pid = Process.spawn("./virt-quad")

  sleep 5

  #################
  #  Begin Tests
  #################

  begin

    puts("Beginning tests...")

    # 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_pid)
    Process.wait(quad_pid)

  end
}