#45: Started with application tests

Author: aul12

.github/workflows/low_level_tests.yml

@@ -87,7 +87,7 @@ jobs:
       - name: Set up Build
         run: cmake -B build
       - name: Run LCOV
-        run: lcov --no-external --capture --directory . --output-file coverage.info
+        run: lcov --no-external -r "build/*" --capture --directory . --output-file coverage.info
       - name: Gen HTML
         run: genhtml coverage.info --output-directory coverage
       - name: Move HTML

Src/Application/application.c

@@ -93,8 +93,6 @@ void application_init(void) {
     actuators_init();
     mode_handler_init();
 
-    imu_start_sampling();
-
     system_post_init();
 
     while (true) {

Src/Application/application.h

@@ -21,6 +21,18 @@
  * The system post initialization will start the timer, which is also implemented as part of the application logic.
  * This function never returns but calls wdt_reset in an infinite loop, if this idle does not run for 30ms
  * (i.e. the system is continuously blocked by interrupts a reset is performed).
+ *
+ * The timer performs the following tasks:
+ *  * Call the mode handler to determine the current mode
+ *  * Calculate the actuator commands depending on the mode:
+ *      * In flightcomputer mode: call the controller with the flightcomputer setpoint and the imu data
+ *          and use the result as elevon commands, the motor command is taken directly from the flightcomputer setpoint
+ *      * In remote mode: take the remote message as actuator command
+ *      * In stabilisied failsave mode: call the controller with roll: 0, pitch: 0 as setpoint and the imu data
+ *           and use the result as elevon commands, the motor command is always 0
+ *      * In failsave mode: set all three commands to 0
+ *  * Pass the actuator commands to the actuators
+ *  * Every FLIGHTCOMPUTER_SEND_PERIOD frame: pass the current data to flightcomputer_send
  */
 void application_init(void);
 

Tests/LowLevel/Application/application.cpp

@@ -0,0 +1,65 @@
+#include <Mock/actuators.hpp>
+#include <Mock/error_handler.hpp>
+#include <Mock/flightcomputer.hpp>
+#include <Mock/imu.hpp>
+#include <Mock/mode_handler.hpp>
+#include <Mock/remote.hpp>
+#include <Mock/system.hpp>
+#include <gtest/gtest.h>
+
+extern "C" {
+#include <Application/application.h>
+}
+
+TEST(TEST_NAME, init) {
+    auto actuatorsHandle = mock::actuators.getHandle();
+    auto errorHandlerHandle = mock::error_handler.getHandle();
+    auto flighcomputerHandle = mock::flightcomputer.getHandle();
+    auto imuHandle = mock::imu.getHandle();
+    auto modeHandlerHandle = mock::mode_handler.getHandle();
+    auto remoteHandlerHandle = mock::remote.getHandle();
+    auto systemHandle = mock::system.getHandle();
+
+    systemHandle.overrideFunc<system_reset_watchdog>(
+            []() { throw std::runtime_error{"EXCEPTION TO BREAK LOOP FOR TESTS"}; });
+
+    EXPECT_THROW(application_init(), std::runtime_error);
+
+    EXPECT_TRUE(systemHandle.functionGotCalled<system_pre_init>(std::ignore));
+    EXPECT_TRUE(errorHandlerHandle.functionGotCalled<error_handler_init>());
+    EXPECT_TRUE(imuHandle.functionGotCalled<imu_init>());
+    EXPECT_TRUE(remoteHandlerHandle.functionGotCalled<remote_init>());
+    EXPECT_TRUE(flighcomputerHandle.functionGotCalled<flightcomputer_init>());
+    EXPECT_TRUE(actuatorsHandle.functionGotCalled<actuators_init>());
+    EXPECT_TRUE(modeHandlerHandle.functionGotCalled<mode_handler_init>());
+    EXPECT_TRUE(systemHandle.functionGotCalled<system_post_init>());
+}
+
+TEST(TEST_NAME, timer) {
+    auto actuatorsHandle = mock::actuators.getHandle();
+    auto errorHandlerHandle = mock::error_handler.getHandle();
+    auto flighcomputerHandle = mock::flightcomputer.getHandle();
+    auto imuHandle = mock::imu.getHandle();
+    auto modeHandlerHandle = mock::mode_handler.getHandle();
+    auto remoteHandlerHandle = mock::remote.getHandle();
+    auto systemHandle = mock::system.getHandle();
+
+    system_timer_16_384ms_callback timer_callback = nullptr;
+    systemHandle.overrideFunc<system_pre_init>(
+            [&timer_callback](system_timer_16_384ms_callback callback) { timer_callback = callback; });
+    systemHandle.overrideFunc<system_reset_watchdog>(
+            []() { throw std::runtime_error{"EXCEPTION TO BREAK LOOP FOR TESTS"}; });
+
+    EXPECT_THROW(application_init(), std::runtime_error);
+
+    EXPECT_TRUE(systemHandle.functionGotCalled<system_pre_init>(std::ignore));
+    EXPECT_TRUE(errorHandlerHandle.functionGotCalled<error_handler_init>());
+    EXPECT_TRUE(imuHandle.functionGotCalled<imu_init>());
+    EXPECT_TRUE(remoteHandlerHandle.functionGotCalled<remote_init>());
+    EXPECT_TRUE(flighcomputerHandle.functionGotCalled<flightcomputer_init>());
+    EXPECT_TRUE(actuatorsHandle.functionGotCalled<actuators_init>());
+    EXPECT_TRUE(modeHandlerHandle.functionGotCalled<mode_handler_init>());
+    EXPECT_TRUE(systemHandle.functionGotCalled<system_post_init>());
+
+    // Actual test
+}

Tests/LowLevel/CMakeLists.txt

@@ -24,6 +24,16 @@ function(make_fc_test)
             REQUIRED_HEADERS ${headers})
 endfunction()
 
+make_fc_test(MODULE Application/application
+        DEPS
+        Application/controller
+        Application/error_handler
+        Application/mode_handler
+        Components/actuators
+        Components/flightcomputer
+        Components/imu
+        Components/remote
+        Components/system)
 make_fc_test(MODULE Application/controller)
 make_fc_test(MODULE Application/error_handler DEPS avr/io avr/wdt)
 make_fc_test(MODULE Application/mode_handler DEPS Application/error_handler Components/imu Components/remote Components/flightcomputer)