bitcraze · krichardsson · Jan 10, 2023 · Jan 5, 2023 · Jan 5, 2023 · Jan 5, 2023
diff --git a/bindings/cffirmware.i b/bindings/cffirmware.i
@@ -89,6 +89,12 @@ void collisionAvoidanceUpdateSetpointWrap(
     free(workspace);
 }
 
+void assertFail(char *exp, char *file, int line) {
+    char buf[150];
+    sprintf(buf, "%s in File: \"%s\", line %d\n", exp, file, line);
+
+    PyErr_SetString(PyExc_AssertionError, buf);
+}
 %}
 
 %pythoncode %{

diff --git a/bindings/setup.py b/bindings/setup.py
@@ -13,9 +13,22 @@
     "src/config",
     "src/drivers/interface",
     "src/platform/interface",
+    "vendor/CMSIS/CMSIS/DSP/Include",
+    "vendor/CMSIS/CMSIS/Core/Include",
 ]
 
 fw_sources = [
+    'vendor/CMSIS/CMSIS/DSP/Source/BasicMathFunctions/arm_add_f32.c',
+    'vendor/CMSIS/CMSIS/DSP/Source/BasicMathFunctions/arm_dot_prod_f32.c',
+    'vendor/CMSIS/CMSIS/DSP/Source/BasicMathFunctions/arm_scale_f32.c',
+    'vendor/CMSIS/CMSIS/DSP/Source/BasicMathFunctions/arm_sub_f32.c',
+    'vendor/CMSIS/CMSIS/DSP/Source/CommonTables/arm_common_tables.c',
+    'vendor/CMSIS/CMSIS/DSP/Source/FastMathFunctions/arm_cos_f32.c',
+    'vendor/CMSIS/CMSIS/DSP/Source/FastMathFunctions/arm_sin_f32.c',
+    'vendor/CMSIS/CMSIS/DSP/Source/StatisticsFunctions/arm_power_f32.c',
+    'vendor/CMSIS/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c',
+    'vendor/CMSIS/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_f32.c',
+    'vendor/CMSIS/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f32.c',
     "src/modules/src/pptraj.c",
     "src/modules/src/pptraj_compressed.c",
     "src/modules/src/planner.c",
@@ -41,6 +54,7 @@
         # The following flags are also used for compiling the actual firmware
         "-fno-strict-aliasing",
         "-Wno-address-of-packed-member",
+        "-DUNIT_TEST_MODE",
     ],
 )
 

diff --git a/examples/app_hello_world-cpp/src/hello_world.cpp b/examples/app_hello_world-cpp/src/hello_world.cpp
@@ -23,7 +23,7 @@
  *
  *
  * hello_world.c - App layer application of a simple hello world debug print every
- *   2 seconds.  
+ *   2 seconds.
  */
 
 
@@ -37,12 +37,12 @@
 extern "C"
 {
   #include "app.h"
-}
 
-#include "FreeRTOS.h"
-#include "task.h"
+  #include "FreeRTOS.h"
+  #include "task.h"
 
-#include "debug.h"
+  #include "debug.h"
+}
 
 #define DEBUG_MODULE "HELLOWORLD"
 

diff --git a/src/modules/interface/stabilizer_types.h b/src/modules/interface/stabilizer_types.h
@@ -89,8 +89,21 @@ typedef enum {
 } measurementSource_t;
 
 typedef struct tdoaMeasurement_s {
-  point_t anchorPositions[2];
-  uint8_t anchorIds[2];
+  union {
+    point_t anchorPositions[2];
+    struct {
+      point_t anchorPositionA;
+      point_t anchorPositionB;
+    };
+  };
+  union {
+    uint8_t anchorIds[2];
+    struct {
+      uint8_t anchorIdA;
+      uint8_t anchorIdB;
+    };
+  };
+
   float distanceDiff;
   float stdDev;
 } tdoaMeasurement_t;

diff --git a/src/modules/src/console.c b/src/modules/src/console.c
@@ -24,12 +24,12 @@
  * console.c - Used to send console data to client
  */
 
-#include <stdbool.h>
 #include <string.h>
 
 /*FreeRtos includes*/
 #include "FreeRTOS.h"
 #include "semphr.h"
+#include "console.h"
 
 #include "crtp.h"
 
@@ -104,12 +104,12 @@ int consolePutchar(int ch)
   if (xSemaphoreTake(synch, portMAX_DELAY) == pdTRUE)
   {
     // Try to send if we already have a pending message
-    if (messageSendingIsPending) 
+    if (messageSendingIsPending)
     {
       consoleSendMessage();
     }
 
-    if (! messageSendingIsPending) 
+    if (! messageSendingIsPending)
     {
       if (messageToPrint.size < CRTP_MAX_DATA_SIZE)
       {
@@ -171,7 +171,7 @@ void consoleFlush(void)
 static int findMarkerStart()
 {
   int start = messageToPrint.size;
-  
+
   // If last char is new line, rewind one char since the marker contains a new line.
   if (start > 0 && messageToPrint.data[start - 1] == '\n')
   {
@@ -183,9 +183,9 @@ static int findMarkerStart()
 
 static void addBufferFullMarker()
 {
-  // Try to add the marker after the message if it fits in the buffer, otherwise overwrite the end of the message 
+  // Try to add the marker after the message if it fits in the buffer, otherwise overwrite the end of the message
   int endMarker = findMarkerStart() + sizeof(bufferFullMsg);
-  if (endMarker >= (CRTP_MAX_DATA_SIZE)) 
+  if (endMarker >= (CRTP_MAX_DATA_SIZE))
   {
     endMarker = CRTP_MAX_DATA_SIZE;
   }

diff --git a/src/modules/src/estimator.c b/src/modules/src/estimator.c
@@ -1,3 +1,4 @@
+#include "stm32fxxx.h"
 #include "FreeRTOS.h"
 #include "queue.h"
 #include "static_mem.h"

diff --git a/src/modules/src/kalman_core/kalman_core.c b/src/modules/src/kalman_core/kalman_core.c
@@ -64,7 +64,6 @@
 #include "math3d.h"
 #include "static_mem.h"
 
-#include "lighthouse_calibration.h"
 // #define DEBUG_STATE_CHECK
 
 // the reversion of pitch and roll to zero

diff --git a/src/utils/interface/cfassert.h b/src/utils/interface/cfassert.h
@@ -24,8 +24,7 @@
  * cfassert.h - Assert macro
  */
 
-#include "stm32fxxx.h"
-#include "console.h"
+#include <stdbool.h>
 
 #ifndef __CFASSERT_H__
 #define __CFASSERT_H__

diff --git a/src/utils/interface/debug.h b/src/utils/interface/debug.h
@@ -47,9 +47,9 @@
 void debugInit(void);
 
 #if defined(UNIT_TEST_MODE)
-  // Empty defines when running unit tests
-  #define DEBUG_PRINT(fmt, ...)
-  #define DEBUG_PRINT_OS(fmt, ...)
+  #include <stdio.h>
+  #define DEBUG_PRINT(fmt, ...) printf(DEBUG_FMT(fmt), ##__VA_ARGS__)
+  #define DEBUG_PRINT_OS(fmt, ...) printf(DEBUG_FMT(fmt), ##__VA_ARGS__)
 #elif defined(CONFIG_DEBUG_PRINT_ON_UART1)
   #define DEBUG_PRINT(fmt, ...) uartPrintf(DEBUG_FMT(fmt), ##__VA_ARGS__)
   #define DEBUG_PRINT_OS(fmt, ...) uartPrintf(DEBUG_FMT(fmt), ##__VA_ARGS__)

diff --git a/src/utils/interface/lighthouse/lighthouse_geometry.h b/src/utils/interface/lighthouse/lighthouse_geometry.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <stdbool.h>
-#include "arm_math.h"
+#include "cf_math.h"
 #include "stabilizer_types.h"
 
 typedef struct {

diff --git a/src/utils/src/lighthouse/pulse_processor_v1.c b/src/utils/src/lighthouse/pulse_processor_v1.c
@@ -268,13 +268,6 @@ TESTABLE_STATIC bool isNewSync(uint32_t timestamp, uint32_t lastSync) {
   return (diff > max) && (diff < min);
 }
 
-#ifndef UNIT_TEST_MODE
-#include "debug.h"
-#else
-#include <stdio.h>
-#define DEBUG_PRINT printf
-#endif
-
 static bool decodeAndApplyBaseStationCalibrationData(pulseProcessor_t *state) {
   bool isDecoded = false;
 

diff --git a/test/deck/drivers/src/test_lps_twr_tag.c b/test/deck/drivers/src/test_lps_twr_tag.c
@@ -4,7 +4,6 @@
 #include <string.h>
 #include "unity.h"
 #include "mock_libdw1000.h"
-#include "mock_cfassert.h"
 #include "mock_locodeck.h"
 #include "mock_configblock.h"
 
@@ -139,22 +138,6 @@ void testNormalMessageSequenceShouldGenerateDistance() {
   TEST_ASSERT_FLOAT_WITHIN(0.01, expectedDistance, actualDistance);
 }
 
-void testEventReceiveUnhandledEventShouldAssertFailure() {
-  // Fixture
-  assertFail_Expect("", "", 0);
-  assertFail_IgnoreArg_exp();
-  assertFail_IgnoreArg_file();
-  assertFail_IgnoreArg_line();
-
-  uwbEvent_t unknownEvent = 100;
-
-  // Test
-  uwbTwrTagAlgorithm.onEvent(&dev, unknownEvent);
-
-  // Assert
-  // Mock automatically validated after test
-}
-
 void testEventReceiveFailedShouldBeIgnored() {
   // Fixture
 

diff --git a/test/modules/src/lighthouse/test_lighthouse_core.c b/test/modules/src/lighthouse/test_lighthouse_core.c
@@ -14,9 +14,9 @@
 #include "mock_lighthouse_calibration.h"
 #include "mock_uart1.h"
 #include "mock_statsCnt.h"
-#include "mock_cfassert.h"
 #include "mock_crtp_localization_service.h"
 #include "mock_lighthouse_storage.h"
+#include "mock_lighthouse_throttle.h"
 
 #include <stdbool.h>
 

diff --git a/test/modules/src/lighthouse/test_lighthouse_storage.c b/test/modules/src/lighthouse/test_lighthouse_storage.c
@@ -6,7 +6,6 @@
 #include "unity.h"
 #include "mock_system.h"
 #include "mock_storage.h"
-#include "mock_cfassert.h"
 #include "mock_lighthouse_position_est.h"
 #include "mock_lighthouse_calibration.h"
 #include "mock_lighthouse_core.h"

diff --git a/test/modules/src/test_outlier_filter.c b/test/modules/src/test_outlier_filter.c
@@ -3,8 +3,6 @@
 
 #include "unity.h"
 
-#include "mock_cfassert.h"
-
 static tdoaMeasurement_t tdoa;
 
 // Helpers

diff --git a/test/modules/src/test_param_logic.c b/test/modules/src/test_param_logic.c
@@ -9,7 +9,6 @@
 #include "unity.h"
 
 #include "mock_crtp.h"
-#include "mock_cfassert.h"
 #include "mock_storage.h"
 #include "crc32.h"
 

diff --git a/test/testSupport/cfassert_in_test.c b/test/testSupport/cfassert_in_test.c
@@ -0,0 +1,9 @@
+#include "cfassert.h"
+#include "unity.h"
+
+// Implementation of assert used in unit tests, it triggers an assert in unity that will fail the test.
+void assertFail(char *exp, char *file, int line) {
+  char buf[150];
+  sprintf(buf, "%s in File: \"%s\", line %d\n", exp, file, line);
+  TEST_ASSERT_MESSAGE(false, buf);
+}
diff --git a/test/utils/src/lighthouse/test_lighthouse_geometry.c b/test/utils/src/lighthouse/test_lighthouse_geometry.c
@@ -7,9 +7,6 @@
 #include <string.h>
 #include "unity.h"
 
-#include "mock_cfassert.h"
-
-
 // Build the arm dsp math lib and use the "real thing" instead of mocking calls to it
 // @BUILD_LIB ARM_DSP_MATH
 

diff --git a/test/utils/src/lighthouse/test_pulse_processor.c b/test/utils/src/lighthouse/test_pulse_processor.c
@@ -15,15 +15,15 @@ void setUp(void) {
 void testThatResultStructIsCleared() {
   // Fixture
   pulseProcessorResult_t angles;
-  angles.sensorMeasurementsLh1[2].baseStationMeasurements[1].validCount = 2;
-  angles.sensorMeasurementsLh2[2].baseStationMeasurements[1].validCount = 2;
+  angles.baseStationMeasurementsLh1[1].sensorMeasurements[2].validCount = 2;
+  angles.baseStationMeasurementsLh2[1].sensorMeasurements[2].validCount = 2;
 
   // Test
   pulseProcessorClear(&angles, 1);
 
   // Assert
-  TEST_ASSERT_EQUAL_INT(0, angles.sensorMeasurementsLh1[2].baseStationMeasurements[1].validCount);
-  TEST_ASSERT_EQUAL_INT(0, angles.sensorMeasurementsLh2[2].baseStationMeasurements[1].validCount);
+  TEST_ASSERT_EQUAL_INT(0, angles.baseStationMeasurementsLh1[1].sensorMeasurements[2].validCount);
+  TEST_ASSERT_EQUAL_INT(0, angles.baseStationMeasurementsLh2[1].sensorMeasurements[2].validCount);
 }
 
 void testThatTsDiffReturnsDifference() {

diff --git a/test_python/test_cf_assert.py b/test_python/test_cf_assert.py
@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+
+import cffirmware
+import pytest
+
+def test_that_assert_in_the_firmware_is_mapped_to_pytest_assert():
+    # Fixture
+    assert_message = 'Assert in firmware (triggered from python)'
+
+    # Test
+    # Assert
+    with pytest.raises(SystemError):
+        cffirmware.assertFail(assert_message, "Some file", 4711)
diff --git a/tools/make/targets.mk b/tools/make/targets.mk
@@ -66,4 +66,4 @@ clean_cf:
 	@rm -f $(srctree)/$(PROG).*
 	@rm -f $(srctree)/cffirmware.py
 	@rm -f $(srctree)/_cffirmware*.so
-
+	@rm -f $(srctree)/build/cffirmware_wrap.c
diff --git a/tools/test/gcc.yml b/tools/test/gcc.yml
@@ -84,6 +84,9 @@ compiler:
     extension: '.o'
     destination: *build_path
   libs:
+    TEST_SUPPORT:
+      files:
+        - 'test/testSupport/cfassert_in_test.c'
     ARM_DSP_MATH:
       files:
         - 'vendor/CMSIS/CMSIS/DSP/Source/BasicMathFunctions/arm_add_f32.c'

diff --git a/tools/test/rakefile_helper.rb b/tools/test/rakefile_helper.rb
@@ -247,6 +247,7 @@ def run_tests(test_files, defines, output_style)
       end
 
       # build libs
+      obj_list += add_lib_source_files(['TEST_SUPPORT'], test_defines)
       lib_annotations = read_lib_annotations(test)
       obj_list += add_lib_source_files(lib_annotations, test_defines)
 
@@ -353,8 +354,11 @@ def find_defines_in_kconfig(config_file)
   end
 
   def exclude_test_files(files, defines)
+    # Extract the names of the defines and remove the values
+    trimmed_defines = defines.map {|define| define.split('=')[0]}
+
     files.select do |file|
-      !annotation_ignore_file?(file, defines)
+      !annotation_ignore_file?(file, trimmed_defines)
     end
   end
 
@@ -363,10 +367,10 @@ def exclude_test_files(files, defines)
   # // @IGNORE_IF_NOT PLATFORM_CF2
   # or
   # // @IGNORE_IF_NOT CONFIG_DECK_LIGHTHOUSE
-  # Ignores values of defines, so this would fail and keep the file
+  # Ignores values of defines, so this would remove the file
   # param to gradle: -DMYDEFINE=0
   # // @IGNORE_IF_NOT MYDEFINE
-  def annotation_ignore_file?(file, defines)
+  def annotation_ignore_file?(file, trimmed_defines)
     ignore_str = '@IGNORE_IF_NOT'
 
     File.foreach( file ) do |line|
@@ -376,7 +380,7 @@ def annotation_ignore_file?(file, defines)
 
         if tokens.length >= (index + 2)
           condition = tokens[index + 1]
-          conditionIsMet = defines.detect {|define| define == condition}
+          conditionIsMet = trimmed_defines.include? condition
           if !conditionIsMet
             return true
           end
@@ -414,8 +418,9 @@ def add_lib_source_files(libs, test_defines)
     libs.each do |lib|
       puts 'Adding lib ' + lib
 
-      files = $cfg['compiler']['libs'][lib]['files']
-      extra_options = $cfg['compiler']['libs'][lib]['extra_options']
+      files = $cfg['compiler']['libs'][lib]['files'] || []
+      extra_options = $cfg['compiler']['libs'][lib]['extra_options'] || []
+
       files.each do |src_file|
         obj_list << compile(src_file, test_defines, extra_options=extra_options)
       end