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Fixed compile errors. Can build on teensy41, test on test_interfaces env
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,137 +1,137 @@ | ||
| // #include <Arduino.h> | ||
| // #include <unity.h> | ||
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| // #include "hytech.h" | ||
| // #include "DashboardInterface.h" | ||
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| // Circular_Buffer <uint8_t, (uint32_t)16, sizeof(CAN_message_t)> dash_CAN_buffer; | ||
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| // /* CHAT GPT FUNCTIONS */ | ||
| // void printMemoryHex(void* ptr, size_t length) { | ||
| // uint8_t* bytePtr = (uint8_t*)ptr; | ||
| // for (size_t i = 0; i < length; ++i) { | ||
| // if (bytePtr[i] < 0x10) { | ||
| // Serial.print("0"); // Add leading zero for values less than 0x10 | ||
| // } | ||
| // Serial.print(bytePtr[i], HEX); | ||
| // Serial.print(' '); | ||
| // } | ||
| // Serial.println(); | ||
| // } | ||
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| // void test_dashboard_unpacking_can_message(void) | ||
| // { | ||
| // DashboardInterface dash_interface(&dash_CAN_buffer); | ||
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| // // Chat GPT code that iterates through a truth table | ||
| // for (int i = 0; i < (1 << 10); ++i) { // 2^10 possible combinations | ||
| // DASHBOARD_STATE_t current_state; | ||
| // current_state.start_button = (uint8_t)((i & (1 << 9)) >> 9); | ||
| // current_state.mark_button = (uint8_t)((i & (1 << 8)) >> 8); | ||
| // current_state.mode_button = (uint8_t)((i & (1 << 7)) >> 7); | ||
| // current_state.motor_controller_cycle_button = (uint8_t)((i & (1 << 6)) >> 6); | ||
| // current_state.launch_ctrl_button = (uint8_t)((i & (1 << 5)) >> 5); | ||
| // current_state.torque_mode_button = (uint8_t)((i & (1 << 4)) >> 4); | ||
| // current_state.led_dimmer_button = (uint8_t)((i & (1 << 3)) >> 3); | ||
| // current_state.left_shifter_button = (uint8_t)((i & (1 << 2)) >> 2); | ||
| // current_state.right_shifter_button = (uint8_t)((i & (1 << 1)) >> 1); | ||
| // current_state.shutdown_h_above_threshold = (uint8_t)(i & 1); | ||
| #include <Arduino.h> | ||
| #include <unity.h> | ||
|
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||
| #include "hytech.h" | ||
| #include "DashboardInterface.h" | ||
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| CANBufferType dash_CAN_buffer; | ||
|
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| /* CHAT GPT FUNCTIONS */ | ||
| void printMemoryHex(void* ptr, size_t length) { | ||
| uint8_t* bytePtr = (uint8_t*)ptr; | ||
| for (size_t i = 0; i < length; ++i) { | ||
| if (bytePtr[i] < 0x10) { | ||
| Serial.print("0"); // Add leading zero for values less than 0x10 | ||
| } | ||
| Serial.print(bytePtr[i], HEX); | ||
| Serial.print(' '); | ||
| } | ||
| Serial.println(); | ||
| } | ||
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|
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| void test_dashboard_unpacking_can_message(void) | ||
| { | ||
| DashboardInterface dash_interface(&dash_CAN_buffer); | ||
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| // Chat GPT code that iterates through a truth table | ||
| for (int i = 0; i < (1 << 10); ++i) { // 2^10 possible combinations | ||
| DASHBOARD_STATE_t current_state; | ||
| current_state.start_button = (uint8_t)((i & (1 << 9)) >> 9); | ||
| current_state.mark_button = (uint8_t)((i & (1 << 8)) >> 8); | ||
| current_state.mode_button = (uint8_t)((i & (1 << 7)) >> 7); | ||
| current_state.motor_controller_cycle_button = (uint8_t)((i & (1 << 6)) >> 6); | ||
| current_state.launch_ctrl_button = (uint8_t)((i & (1 << 5)) >> 5); | ||
| current_state.torque_mode_button = (uint8_t)((i & (1 << 4)) >> 4); | ||
| current_state.led_dimmer_button = (uint8_t)((i & (1 << 3)) >> 3); | ||
| current_state.left_shifter_button = (uint8_t)((i & (1 << 2)) >> 2); | ||
| current_state.right_shifter_button = (uint8_t)((i & (1 << 1)) >> 1); | ||
| current_state.shutdown_h_above_threshold = (uint8_t)(i & 1); | ||
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| // CAN_message_t msg; | ||
| // msg.id= Pack_DASHBOARD_STATE_hytech(¤t_state, msg.buf, &msg.len, (uint8_t*) &msg.flags.extended); | ||
| CAN_message_t msg; | ||
| msg.id= Pack_DASHBOARD_STATE_hytech(¤t_state, msg.buf, &msg.len, (uint8_t*) &msg.flags.extended); | ||
|
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| // dash_interface.read(msg); | ||
| dash_interface.read(msg); | ||
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| // TEST_ASSERT_EQUAL(current_state.start_button, dash_interface.startButtonPressed() ); | ||
| // TEST_ASSERT_EQUAL(current_state.mark_button, dash_interface.specialButtonPressed() ); | ||
| // TEST_ASSERT_EQUAL(current_state.mode_button , dash_interface.torqueModeButtonPressed() ); | ||
| // TEST_ASSERT_EQUAL(current_state.motor_controller_cycle_button, dash_interface.inverterResetButtonPressed() ); | ||
| // TEST_ASSERT_EQUAL(current_state.launch_ctrl_button , dash_interface.launchControlButtonPressed() ); | ||
| // TEST_ASSERT_EQUAL(current_state.torque_mode_button , dash_interface.torqueLoadingButtonPressed() ); | ||
| // TEST_ASSERT_EQUAL(current_state.led_dimmer_button , dash_interface.nightModeButtonPressed() ); | ||
| // TEST_ASSERT_EQUAL(current_state.left_shifter_button, dash_interface.leftShifterButtonPressed() ); | ||
| // TEST_ASSERT_EQUAL(current_state.right_shifter_button , dash_interface.rightShifterButtonPressed() ); | ||
| // TEST_ASSERT_EQUAL(current_state.shutdown_h_above_threshold , dash_interface.shutdownHAboveThreshold() ); | ||
| TEST_ASSERT_EQUAL(current_state.start_button, dash_interface.startButtonPressed() ); | ||
| TEST_ASSERT_EQUAL(current_state.mark_button, dash_interface.specialButtonPressed() ); | ||
| TEST_ASSERT_EQUAL(current_state.mode_button , dash_interface.torqueModeButtonPressed() ); | ||
| TEST_ASSERT_EQUAL(current_state.motor_controller_cycle_button, dash_interface.inverterResetButtonPressed() ); | ||
| TEST_ASSERT_EQUAL(current_state.launch_ctrl_button , dash_interface.launchControlButtonPressed() ); | ||
| TEST_ASSERT_EQUAL(current_state.torque_mode_button , dash_interface.torqueLoadingButtonPressed() ); | ||
| TEST_ASSERT_EQUAL(current_state.led_dimmer_button , dash_interface.nightModeButtonPressed() ); | ||
| TEST_ASSERT_EQUAL(current_state.left_shifter_button, dash_interface.leftShifterButtonPressed() ); | ||
| TEST_ASSERT_EQUAL(current_state.right_shifter_button , dash_interface.rightShifterButtonPressed() ); | ||
| TEST_ASSERT_EQUAL(current_state.shutdown_h_above_threshold , dash_interface.shutdownHAboveThreshold() ); | ||
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| // } | ||
| } | ||
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| // } | ||
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| // void test_dashboard_circular_buffer(void) | ||
| // { | ||
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| // Circular_Buffer <uint8_t, (uint32_t)16, sizeof(CAN_message_t)> dash_CAN_buffer_2; | ||
| // DashboardInterface dash_interface(&dash_CAN_buffer_2); | ||
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| // uint8_t LED[12] = {}; | ||
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| // // for (uint64_t i = 0; i < (1 << 48); ++i) { // 2^48 possible combinations | ||
| // // for (int j = 0; j < 12; ++j) { | ||
| // // int color_index = (i >> (j * 2)) & 0b11; // Extract 2 bits for each LED | ||
| // // switch (color_index) { | ||
| // // case 0: | ||
| // // LED[j] = static_cast<uint8_t>(LEDColors_e::OFF); | ||
| // // break; | ||
| // // case 1: | ||
| // // LED[j] = static_cast<uint8_t>(LEDColors_e::ON); | ||
| // // break; | ||
| // // case 2: | ||
| // // LED[j] = static_cast<uint8_t>(LEDColors_e::YELLOW); | ||
| // // break; | ||
| // // case 3: | ||
| // // LED[j] = static_cast<uint8_t>(LEDColors_e::RED); | ||
| // // break; | ||
| // // } | ||
| // // } | ||
| } | ||
|
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| void test_dashboard_circular_buffer(void) | ||
| { | ||
|
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| CANBufferType dash_CAN_buffer_2; | ||
| DashboardInterface dash_interface(&dash_CAN_buffer_2); | ||
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| uint8_t LED[12] = {}; | ||
|
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| // for (uint64_t i = 0; i < (1 << 48); ++i) { // 2^48 possible combinations | ||
| // for (int j = 0; j < 12; ++j) { | ||
| // int color_index = (i >> (j * 2)) & 0b11; // Extract 2 bits for each LED | ||
| // switch (color_index) { | ||
| // case 0: | ||
| // LED[j] = static_cast<uint8_t>(LEDColors_e::OFF); | ||
| // break; | ||
| // case 1: | ||
| // LED[j] = static_cast<uint8_t>(LEDColors_e::ON); | ||
| // break; | ||
| // case 2: | ||
| // LED[j] = static_cast<uint8_t>(LEDColors_e::YELLOW); | ||
| // break; | ||
| // case 3: | ||
| // LED[j] = static_cast<uint8_t>(LEDColors_e::RED); | ||
| // break; | ||
| // } | ||
| // } | ||
|
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| // // // Use LED array as needed | ||
| // // // For example, you can print the LED colors: | ||
| // // for (int k = 0; k < 12; ++k) { | ||
| // // Serial.print(LED[k]); | ||
| // // Serial.print(" "); | ||
| // // } | ||
| // // Serial.println(); | ||
| // // } | ||
| // // Use LED array as needed | ||
| // // For example, you can print the LED colors: | ||
| // for (int k = 0; k < 12; ++k) { | ||
| // Serial.print(LED[k]); | ||
| // Serial.print(" "); | ||
| // } | ||
| // Serial.println(); | ||
| // } | ||
|
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| // LED[0] = static_cast<uint8_t>(LEDColors_e::RED); | ||
| // LED[1] = static_cast<uint8_t>(LEDColors_e::YELLOW); | ||
| LED[0] = static_cast<uint8_t>(LEDColors_e::RED); | ||
| LED[1] = static_cast<uint8_t>(LEDColors_e::YELLOW); | ||
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| // dash_interface.setLED(DashLED_e::BOTS_LED, LEDColors_e::RED); | ||
| // dash_interface.setLED(DashLED_e::LAUNCH_CONTROL_LED, LEDColors_e::YELLOW); | ||
| dash_interface.setLED(DashLED_e::BOTS_LED, LEDColors_e::RED); | ||
| dash_interface.setLED(DashLED_e::LAUNCH_CONTROL_LED, LEDColors_e::YELLOW); | ||
|
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| // // need to make _data in dash interface public: | ||
| // // TODO: investigate using friend class | ||
| // // TEST_ASSERT_EQUAL_UINT8_ARRAY(LED, dash_interface._data.LED, sizeof(LED)); | ||
| // need to make _data in dash interface public: | ||
| // TODO: investigate using friend class | ||
| // TEST_ASSERT_EQUAL_UINT8_ARRAY(LED, dash_interface._data.LED, sizeof(LED)); | ||
|
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| // CAN_message_t packed_message = dash_interface.write(); | ||
| CAN_message_t packed_message = dash_interface.write(); | ||
|
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| // uint8_t buffer[sizeof(CAN_message_t)]; | ||
| // dash_CAN_buffer_2.pop_front(buffer, sizeof(CAN_message_t)); | ||
| uint8_t buffer[sizeof(CAN_message_t)]; | ||
| dash_CAN_buffer_2.pop_front(buffer, sizeof(CAN_message_t)); | ||
|
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| // delay(1000); | ||
| delay(1000); | ||
|
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| // Serial.println("Printing packed message:"); | ||
| // printMemoryHex(&packed_message, sizeof(CAN_message_t)); | ||
| // Serial.println("Printing popped message"); | ||
| // printMemoryHex(&buffer, sizeof(CAN_message_t)); | ||
| Serial.println("Printing packed message:"); | ||
| printMemoryHex(&packed_message, sizeof(CAN_message_t)); | ||
| Serial.println("Printing popped message"); | ||
| printMemoryHex(&buffer, sizeof(CAN_message_t)); | ||
|
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| // CAN_message_t msg; | ||
| // memmove(&msg, buffer, sizeof(CAN_message_t)); | ||
| CAN_message_t msg; | ||
| memmove(&msg, buffer, sizeof(CAN_message_t)); | ||
|
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| // Serial.println("Printing moved message:"); | ||
| // printMemoryHex(&msg, sizeof(CAN_message_t)); | ||
| Serial.println("Printing moved message:"); | ||
| printMemoryHex(&msg, sizeof(CAN_message_t)); | ||
|
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| // TEST_ASSERT_EQUAL_MEMORY(&packed_message, &msg, sizeof(CAN_message_t)); | ||
| TEST_ASSERT_EQUAL_MEMORY(&packed_message, &msg, sizeof(CAN_message_t)); | ||
|
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| // DASHBOARD_MCU_STATE_t mcu_state; | ||
| DASHBOARD_MCU_STATE_t mcu_state; | ||
|
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| // Unpack_DASHBOARD_MCU_STATE_hytech(&mcu_state, msg.buf, NULL); | ||
| Unpack_DASHBOARD_MCU_STATE_hytech(&mcu_state, msg.buf, NULL); | ||
|
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| // TEST_ASSERT_EQUAL(LEDColors_e::RED, mcu_state.bots_led); | ||
| // TEST_ASSERT_EQUAL(LEDColors_e::YELLOW, mcu_state.launch_control_led); | ||
| TEST_ASSERT_EQUAL(LEDColors_e::RED, mcu_state.bots_led); | ||
| TEST_ASSERT_EQUAL(LEDColors_e::YELLOW, mcu_state.launch_control_led); | ||
|
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| // } | ||
| } |
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