Unit Testing Framework

.vscode/LHR.code-workspace

@@ -17,6 +17,24 @@
                 "args": ["-i"]
             },   
         },
+        "files.associations": {
+            "*.db": "sql",
+            "contactors.h": "c",
+            "pedals.h": "c",
+            "bsp_adc.h": "c",
+            "config.h": "c",
+            "unity.h": "c",
+            "fff.h": "c",
+            "common.h": "c",
+            "stdio.h": "c",
+            "stm32f4xx.h": "c",
+            "bsp_gpio.h": "c",
+            "os.h": "c",
+            "tasks.h": "c",
+            "canbus.h": "c",
+            "readcarcan.h": "c",
+            "minions.h": "c"
+        },
     },
     "tasks": {
         "version": "2.0.0",

Apps/Inc/ReadCarCan.h

@@ -13,6 +13,11 @@
 
 #include "common.h"
 
+/**
+ * Task Prototype
+ */
+void TaskReadCarCan(void* p_arg);
+
 /**
  * Error types
  */

Apps/Inc/ReadTritium.h

@@ -31,6 +31,11 @@ typedef enum {
     kNone = 0x00,
 } TritiumErrorCode;
 
+/**
+ * Task Prototype
+ */
+void TaskReadTritium(void* p_arg);
+
 float MotorRpmGet();
 float MotorVelocityGet();
 

Apps/Inc/SendCarCan.h

@@ -3,6 +3,11 @@
 
 #include "CanBus.h"
 
+/**
+ * Task Prototype
+ */
+void TaskSendCarCan(void* p_arg);
+
 /**
  * @brief Initialize SendCarCAN
  */

Apps/Inc/SendTritium.h

@@ -47,6 +47,11 @@ typedef struct TritiumState {
     void (*stateDecider)(void);
 } TritiumState;
 
+/**
+ * Task Prototype
+ */
+void TaskSendTritium(void* p_arg);
+
 // Getter functions for static variables
 bool GetCruiseEnable(void);
 bool GetCruiseSet(void);

Apps/Inc/Tasks.h

@@ -60,11 +60,6 @@ typedef uint16_t ErrorCode;
  * Task Prototypes
  */
 void TaskInit(void* p_arg);
-void TaskSendTritium(void* p_arg);
-void TaskReadCarCan(void* p_arg);
-void TaskUpdateDisplay(void* p_arg);
-void TaskReadTritium(void* p_arg);
-void TaskSendCarCan(void* p_arg);
 void TaskDebugDump(void* p_arg);
 void TaskCommandLine(void* p_arg);
 
@@ -167,7 +162,7 @@ void AssertOsError(OS_ERR err);
 
 #if DEBUG == 1
 #define ASSERT_OS_ERROR(err)                                                \
-    if (err != OS_ERR_NONE) {                                               \
+    if ((err) != OS_ERR_NONE) {                                             \
         printf("Error asserted at %s, line %d: %d\n\r", __FILE__, __LINE__, \
                err);                                                        \
     }                                                                       \
@@ -178,4 +173,4 @@ void AssertOsError(OS_ERR err);
 
 #endif
 
-/* @} */
+/* @} */

Apps/Inc/UpdateDisplay.h

@@ -45,6 +45,11 @@ typedef enum { kState0 = 0, kState1 = 1, kState2 = 2 } TriState;
 #define DISP_FORWARD kState1
 #define DISP_REVERSE kState2
 
+/**
+ * Task Prototype
+ */
+void TaskUpdateDisplay(void* p_arg);
+
 /**
  * @brief Initializes UpdateDisplay application
  * @returns UpdateDisplayError_t

Apps/Src/CommandLine.c

@@ -106,7 +106,7 @@ void TaskCommandLine(void *p_arg) {
     // output welcome/help screen
     printf("%s", help);
 
-    while (1) {
+    LOOP {
         printf("> ");
         BspUartRead(kUart2, input);
         printf("\n\r");

Apps/Src/DebugDump.c

@@ -23,7 +23,7 @@ static const char *gear_string[] = {FOREACH_GEAR(GENERATE_STRING)};
 void TaskDebugDump(void *p_arg) {
     OS_ERR err = 0;
 
-    while (1) {
+    LOOP {
         // Get pedal information
         int8_t accel_pedal = PedalsRead(kAccelerator);
         printf("kAccelerator: %d\n\r", accel_pedal);

Apps/Src/ReadCarCan.c

@@ -368,15 +368,17 @@ void TaskReadCarCan(void *p_arg) {
     memset(hv_plus_minus_charge_msg_buffer, DISABLE_SATURATION_MSG,
            sizeof(hv_plus_minus_charge_msg_buffer));
 
-    while (1) {
+    LOOP {
         UpdatePrechargeContactors();  // Sets array and motor controller PBC if
                                       // all conditions (PBC Status, Threshold,
                                       // Precharge Complete) permit
 
         // BPS sent a message
         ErrorStatus status = CanBusRead(&data_buf, true, CARCAN);
         if (status != SUCCESS) {
+#ifndef MOCKING
             continue;
+#endif
         }
 
         switch (data_buf.id) {  // Switch case based on BPS msg received
@@ -453,7 +455,7 @@ static void handlerReadCarCanChargeDisable(void) {
     if (ret) {  // Contactor failed to turn off; display the evac screen and
                 // infinite loop
         DisplayEvac(soc, sbpv);
-        while (1) {}
+        LOOP {}
     }
 }
 
@@ -489,7 +491,7 @@ static void handlerReadCarCanContactorsDisable(void) {
     if (ret) {  // Contactor failed to turn off; display the evac screen and
                 // infinite loop
         DisplayEvac(soc, sbpv);
-        while (1) {}
+        LOOP {}
     }
 }
 

Apps/Src/ReadTritium.c

@@ -46,7 +46,7 @@ void TaskReadTritium(void *p_arg) {
     // Timer doesn't seem to trigger without initial delay? Might be an RTOS bug
     static bool watchdog_created = false;
 
-    while (1) {
+    LOOP {
         ErrorStatus status = CanBusRead(&data_buf, true, MOTORCAN);
 
         if (status == SUCCESS) {

Apps/Src/SendCarCan.c

@@ -116,7 +116,7 @@ void TaskSendCarCan(void *p_arg) {
                  (OS_ERR *)&err);
     ASSERT_OS_ERROR(err);
 
-    while (1) {
+    LOOP {
         // Check if there's something to send in the queue (either IOState or
         // Car state from sendTritium)
         OSSemPend(&car_can_sem4, 0, OS_OPT_PEND_BLOCKING, &ticks, &err);
@@ -168,7 +168,7 @@ static void putIOState(void) {
  */
 static void taskPutIoState(void *p_arg) {
     OS_ERR err = 0;
-    while (1) {
+    LOOP {
         putIOState();
         OSTimeDlyHMSM(0, 0, 0, IO_STATE_DLY_MS, OS_OPT_TIME_HMSM_STRICT, &err);
         ASSERT_OS_ERROR(err);

Apps/Src/SendTritium.c

@@ -715,7 +715,7 @@ void TaskSendTritium(void* p_arg) {
     };
 #endif
 
-    while (1) {
+    LOOP {
         prev_state = state;
 
         state.stateHandler();  // do what the current state does

Apps/Src/Tasks.c

@@ -45,7 +45,7 @@ CPU_STK command_line_stk[TASK_COMMAND_LINE_STACK_SIZE];
 
 // Variables to store error codes, stored and cleared in task error assert
 // functions
-ErrorCode error_read_car_can = 0;      // TODO: change this back to the error
+ErrorCode error_read_car_can = kReadCarCanErrNone;
 ErrorCode error_read_tritium = kNone;  // Initialized to no error
 ErrorCode error_update_display = kUpdateDisplayErrNone;
 
@@ -61,7 +61,7 @@ void AssertOsError(volatile OS_ERR err) {
                                    // brakelight to indicate an emergency
         DisplayFault(err);         // Display the location and error code
         printf("%d\n\r", err);
-        while (1) {}  // nonrecoverable
+        LOOP {}  // nonrecoverable
     }
 }
 
@@ -113,7 +113,7 @@ void ThrowTaskError(ErrorCode error_code, Callback error_callback,
     }
 
     if (nonrecoverable == kOptNonrecov) {  // Enter an infinite while loop
-        while (1) {}
+        LOOP {}
     }
 
     if (lock_sched == kOptLockSched) {  // Only happens on recoverable errors

Apps/Src/UpdateDisplay.c

@@ -320,9 +320,7 @@ void UpdateDisplayClearQueue() {
  * @brief Loops through the display queue and sends all messages
  */
 void TaskUpdateDisplay(void* p_arg) {
-    while (1) {
-        updateDisplayPopNext();
-    }
+    LOOP { updateDisplayPopNext(); }
 }
 
 /**

Apps/Src/main.c

@@ -12,7 +12,10 @@
 #include "Display.h"
 #include "Minions.h"
 #include "Pedals.h"
+#include "ReadCarCan.h"
+#include "ReadTritium.h"
 #include "SendCarCan.h"
+#include "SendTritium.h"
 #include "Tasks.h"
 #include "UpdateDisplay.h"
 #include "common.h"
@@ -46,7 +49,7 @@ int main(void) {
     OSStart(&err);
     ASSERT_OS_ERROR(err);
 
-    while (1) {}
+    LOOP {}
 }
 
 void TaskInit(void *p_arg) {

BSP/STM32F413/Makefile

@@ -113,23 +113,26 @@ C_INCLUDES =  \
 -I../../RTOS/uCOS-III-STM32F4/uC-LIB/ \
 -I../../Tests/Inc/ \
 
-# compile gcc flags
-ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
-
-CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -Werror -fdata-sections -ffunction-sections
-
 ifeq ($(DEBUG), 1)
-CFLAGS += -g3 -gdwarf-2 -DDEBUG
+C_DEFS += -g3 -gdwarf-2 -DDEBUG
 endif
 
 ifeq ($(MOTOR_LOOPBACK), 1)
-CFLAGS += -DMOTOR_LOOPBACK
+C_DEFS += -DMOTOR_LOOPBACK
 endif
 
 ifeq ($(CAR_LOOPBACK), 1)
-CFLAGS += -DCAR_LOOPBACK
+C_DEFS += -DCAR_LOOPBACK
 endif
 
+# Not mocking -> LOOP = while(1)
+C_DEFS += -D'LOOP=while(1)'
+
+# compile gcc flags
+ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
+
+CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -Werror -fdata-sections -ffunction-sections
+
 # Generate dependency information
 CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
 

Makefile

@@ -24,6 +24,14 @@ else
 	TEST_LEADER ?= Apps/Src/main.c
 endif
 
+#Check if unit test file exists (just to inform user if it isn't found)
+#UNITTEST is solely used for echoing purposes
+ifneq (,$(wildcard Tests/UnitTests/Tests/Test_$(TEST).c))
+	UNITTEST ?= Tests/UnitTests/Tests/Test_$(TEST).c
+else
+	UNITTEST ?= no test found
+endif
+
 LEADER = controls-leader
 
 all:
@@ -37,6 +45,12 @@ stm32f413:
 	$(MAKE) -C BSP -C STM32F413 -j TARGET=$(LEADER) TEST=$(TEST_LEADER)
 	@echo "${BLUE}Compiled for leader! Jolly Good!${NC}"
 
+unittest:
+	@echo "${YELLOW}Compiling unit test...${NC}"
+	@echo "$(UNITTEST)"	
+	$(MAKE) -C Tests -C UnitTests -j TARGET=$(LEADER) TEST=$(TEST)	
+	@echo "${BLUE}Compiled unit test! Jolly Good!${NC}"
+
 flash:
 	$(MAKE) -C BSP -C STM32F413 flash
 
@@ -58,6 +72,7 @@ help:
 
 
 clean:
+	rm -fR Tests/UnitTests/Objects
 	rm -fR Objects
 	rm -f *.out
 	rm -fr Docs/doxygen