109 lines
3.4 KiB
C++
109 lines
3.4 KiB
C++
#include <thread>
|
|
#include <pty.h>
|
|
#include <fcntl.h>
|
|
#include <unistd.h>
|
|
#include "comframe.h"
|
|
#include "telemetry.h"
|
|
#include "dataqueue.hpp"
|
|
#include "exint/detail.h"
|
|
#include "c_testcase.h"
|
|
|
|
static int g_telemetry_request_count = 0;
|
|
static DataQueue<std::tuple<uint32_t, size_t, PacketData>> g_data_queue;
|
|
static int host_com_master_id;
|
|
static int telemetry_com_master_id;
|
|
|
|
void exint_data_callback(uint32_t type, size_t size, PacketData data) {
|
|
if (type == ET_TYPE_TELEMETRY_REQUEST) {
|
|
g_telemetry_request_count++;
|
|
memset(data.pd_pointer, 0, size);
|
|
((TelemetryRequestData*)data.pd_pointer)->app_ver_high = 1;
|
|
((TelemetryRequestData*)data.pd_pointer)->app_ver_low = 2;
|
|
} else {
|
|
g_data_queue.Push(std::make_tuple(type, size, data));
|
|
}
|
|
}
|
|
|
|
SETUP {
|
|
int host_com_slave_id, telemetry_com_slave_id;
|
|
if (openpty(&host_com_master_id, &host_com_slave_id, NULL, NULL, NULL) < 0) {
|
|
return 1;
|
|
}
|
|
if (openpty(&telemetry_com_master_id, &telemetry_com_slave_id, NULL, NULL, NULL) < 0) {
|
|
return 1;
|
|
}
|
|
init_tty(host_com_master_id, 115200);
|
|
init_tty(telemetry_com_master_id, 115200);
|
|
// init_tty(host_com_slave_id, 115200);
|
|
// init_tty(telemetry_com_slave_id, 115200);
|
|
exint_init_from_tty(host_com_slave_id, telemetry_com_slave_id, exint_data_callback);
|
|
g_telemetry_request_count = 0;
|
|
return 0;
|
|
}
|
|
|
|
TEARDOWN {
|
|
exint_finialize();
|
|
close(host_com_master_id);
|
|
close(telemetry_com_master_id);
|
|
g_data_queue.Clear();
|
|
return 0;
|
|
}
|
|
|
|
TEST_CASE(test_init) {
|
|
assert(host_com_master_id);
|
|
assert(telemetry_com_master_id);
|
|
END_TEST;
|
|
}
|
|
|
|
TEST_CASE(test_host_telemetry) {
|
|
auto request_msg = NewTelemetryRequestMsg(COM_FRAME_ADDRESS_VOIX, true);
|
|
ComFrame_Send(telemetry_com_master_id, request_msg, true);
|
|
ComFrame_Del(request_msg);
|
|
|
|
bool timeout_flag = true;
|
|
std::thread([&]() {
|
|
std::this_thread::sleep_for(std::chrono::seconds(1));
|
|
timeout_flag = false;
|
|
}).detach();
|
|
|
|
size_t offset = 0;
|
|
size_t cached_size = 0;
|
|
auto telemetry_reply = ComFrame_ReceiveEx(telemetry_com_master_id, NULL, 100, &offset, &cached_size, &timeout_flag, true);
|
|
assert(telemetry_reply);
|
|
assert_eq(g_telemetry_request_count, 1);
|
|
|
|
TelemetryData* telemetry_data = (TelemetryData*)ComFrame_PAYLOAD(telemetry_reply);
|
|
assert_eq(ComFrame_TYPE(telemetry_reply), COM_FRAME_TYPE_TELEMETRY_ANSWER);
|
|
assert_eq(ComFrame_PAYLOAD_LENGTH(telemetry_reply), sizeof(TelemetryData));
|
|
assert_eq(telemetry_data->application_version_high, 1);
|
|
|
|
END_TEST;
|
|
}
|
|
|
|
TEST_CASE(test_send_command) {
|
|
ComFrame* command_frame = NULL;
|
|
bool timeout_flag = true;
|
|
std::thread([&]() {
|
|
size_t offset = 0;
|
|
size_t cached_size = 0;
|
|
command_frame = ComFrame_ReceiveEx(host_com_master_id, NULL, 100, &offset, &cached_size, &timeout_flag, true);
|
|
}).detach();
|
|
|
|
char command_data[] = {0x00, 0x01, 0x02, 0x03, 0x04, 0x05};
|
|
exint_send(ET_TYPE_COMMAND, 6, { .pd_pointer = command_data });
|
|
|
|
for (int i = 0; i < 100; i++) {
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(1));
|
|
if (command_frame) {
|
|
break;
|
|
}
|
|
}
|
|
timeout_flag = false;
|
|
assert(command_frame);
|
|
assert_eq(ComFrame_TYPE(command_frame), COM_FRAME_TYPE_REQUEST);
|
|
assert_eq(ComFrame_PAYLOAD_LENGTH(command_frame), 6);
|
|
assert_eq(ComFrame_PAYLOAD(command_frame)[0], 0x00);
|
|
assert_eq(ComFrame_PAYLOAD(command_frame)[5], 0x05);
|
|
END_TEST;
|
|
}
|