kinda functional sendcarcan test with new test framework way of writi…

…y of writing tests, may be deemed un-useful and removed later on. going to keep it on sendcarcan_test branch for now.

Tests/Leader/Test_App_SendCarCAN.c

@@ -10,38 +10,57 @@
 
 #include "BSP_ADC.h"
 
-#define TEST_USE_RTOS 1
+// Import test runner
+#define USE_OS
 #include "Test_Runner.h"
 
-// static OS_TMR IOStateTestTmr;
-
-static CANDATA_t checkData;
-
-// Test Functions (Each test function should test one aspect of code functionality)
+// Test Cases
 static void Test_IOState(){
     OS_ERR err;
 
     // Check for IO State CAN message here
     // Data should be default system state
-    OSTimeDlyHMSM(0, 0, 0, IO_STATE_TMR_DLY_MS, OS_OPT_TIME_HMSM_STRICT);
-    __asm("bkpt");
+    OSTimeDlyHMSM(0, 0, 0, IO_STATE_TMR_DLY_MS, OS_OPT_TIME_HMSM_STRICT, &err);
 
     // Change state for some outputs
     Contactors_Set(MOTOR_CONTACTOR, true, true);
     Minions_Write(BRAKELIGHT, true);
 
     // Check for IO State CAN message here
     // Data should be changed according to change in outputs
-    OSTimeDlyHMSM(0, 0, 0, IO_STATE_TMR_DLY_MS, OS_OPT_TIME_HMSM_STRICT);
-    __asm("bkpt");
-
-    // Once breakpoint is hit, change some inputs to system
-    // Then check if appropriate change has been made to CAN message
-    OSTimeDlyHMSM(0, 0, 0, IO_STATE_TMR_DLY_MS, OS_OPT_TIME_HMSM_STRICT);
-    __asm("bkpt");
+    OSTimeDlyHMSM(0, 0, 0, IO_STATE_TMR_DLY_MS, OS_OPT_TIME_HMSM_STRICT, &err);
+
+    for(int i=0; i<5; i++){
+        // Once breakpoint is hit, change some inputs to system
+        // Then check if appropriate change has been made to CAN message
+        OSTimeDlyHMSM(0, 0, 0, IO_STATE_TMR_DLY_MS, OS_OPT_TIME_HMSM_STRICT, &err); // Breakpoint here
+    }
 }
 
-static void Test_Send
+static void Test_ControlMode(){
+    OS_ERR err;
+
+    OSTaskCreate(
+        (OS_TCB *)&SendTritium_TCB,
+        (CPU_CHAR *)"SendTritium",
+        (OS_TASK_PTR)Task_SendTritium,
+        (void *)NULL,
+        (OS_PRIO)TASK_SEND_TRITIUM_PRIO,
+        (CPU_STK *)SendTritium_Stk,
+        (CPU_STK_SIZE)DEFAULT_STACK_SIZE,
+        (CPU_STK_SIZE)DEFAULT_STACK_SIZE,
+        (OS_MSG_QTY)0,
+        (OS_TICK)NULL,
+        (void *)NULL,
+        (OS_OPT)(OS_OPT_TASK_STK_CLR),
+        (OS_ERR *)&err);
+
+    for(int i=0; i<5; i++){
+        // Once breakpoint is hit, change some inputs to system
+        // Then check if appropriate change has been made to CAN message
+        OSTimeDlyHMSM(0, 0, 0, IO_STATE_TMR_DLY_MS, OS_OPT_TIME_HMSM_STRICT, &err); // Breakpoint here
+    }
+}
 
 // Test Drivers
 void Test_Setup(){
@@ -51,16 +70,13 @@ void Test_Setup(){
     Pedals_Init();
     Minions_Init();
 
-    checkData.ID = IO_STATE;
     return;
 }
 
 void Test_Start(){
     // Spawn necessary applications
     OS_ERR err;
 
-    SendCarCAN_Init();
-
     OSTaskCreate(
         (OS_TCB *)&SendCarCAN_TCB,
         (CPU_CHAR *)"SendCarCAN",
@@ -76,20 +92,10 @@ void Test_Start(){
         (OS_OPT)(OS_OPT_TASK_STK_CLR),
         (OS_ERR *)&err);
     assertOSError(OS_MAIN_LOC, err);
-
-    // OSTmrCreate(&IOStateTestTmr,
-    //             "IO State Test Timer",
-    //             0,
-    //             IO_STATE_TMR_DLY_TS,
-    //             OS_OPT_TMR_ONE_SHOT,
-    //             IOStateTestHandler,
-    //             NULL,
-    //             &err
-    //             );
-    // assertOSError(OS_MAIN_LOC, err);
 
     // Run all test functions here
     Test_IOState();
+    Test_ControlMode();
 
     return;
 }