gronod
8f5b41ebba
ci / test (pull_request) Failing after 12s
ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (pull_request) Skipped
ci / firmware (wroom, sdkconfig.wroom, esp32) (pull_request) Skipped
ci / test (push) Failing after 12s
ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Skipped
ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Skipped
300 lines
9.0 KiB
C
300 lines
9.0 KiB
C
#include "app_machine.h"
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#include "app_process.h"
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#include "hal_motor.h"
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#include <stdio.h>
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#include <string.h>
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extern bool stub_motor_enabled;
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extern int stub_stop_count;
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extern int stub_agitate_start_count;
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extern int stub_beep_count;
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extern int stub_alarm_count;
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extern int stub_alarm_cancel_count;
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static int g_failures;
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static void fail(const char *msg)
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{
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fprintf(stderr, "FAIL: %s\n", msg);
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g_failures++;
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}
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static void expect_int(int got, int want, const char *msg)
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{
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if (got != want) {
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fprintf(stderr, "FAIL: %s got=%d want=%d\n", msg, got, want);
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g_failures++;
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}
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}
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static void expect_u32(uint32_t got, uint32_t want, const char *msg)
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{
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if (got != want) {
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fprintf(stderr, "FAIL: %s got=%u want=%u\n", msg, got, want);
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g_failures++;
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}
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}
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static void drain_events(void)
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{
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ui_evt_t ev;
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while (app_machine_last_event(&ev) == 1) {
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}
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}
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static int pop_ids(ui_evt_id_t *ids, int max)
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{
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int n = 0;
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ui_evt_t ev;
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while (n < max && app_machine_last_event(&ev) == 1) {
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ids[n++] = ev.id;
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}
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return n;
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}
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static bool has_id(const ui_evt_id_t *ids, int n, ui_evt_id_t id)
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{
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for (int i = 0; i < n; i++) {
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if (ids[i] == id) {
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return true;
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}
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}
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return false;
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}
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static ui_cmd_t cmd_select(uint8_t proc)
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{
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ui_cmd_t c;
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memset(&c, 0, sizeof(c));
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c.id = CMD_SELECT_PROCESS;
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c.process_id = proc;
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return c;
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}
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static ui_cmd_t cmd_arm(uint8_t step)
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{
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ui_cmd_t c;
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memset(&c, 0, sizeof(c));
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c.id = CMD_ARM_STEP;
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c.step_index = step;
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return c;
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}
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static ui_cmd_t cmd_start(uint8_t step)
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{
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ui_cmd_t c;
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memset(&c, 0, sizeof(c));
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c.id = CMD_START_STEP;
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c.step_index = step;
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return c;
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}
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static ui_cmd_t cmd_id(ui_cmd_id_t id)
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{
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ui_cmd_t c;
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memset(&c, 0, sizeof(c));
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c.id = id;
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return c;
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}
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static void select_c41_step_view(void)
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{
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app_machine_init();
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ui_cmd_t c = cmd_select(PROC_C41);
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app_machine_handle_cmd(&c);
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expect_int((int)app_machine_state(), ST_STEP_SELECT, "select_c41_step_view state");
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expect_int((int)app_machine_process_id(), PROC_C41, "select_c41_step_view proc");
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expect_int((int)app_machine_step_index(), 0, "select_c41_step_view step");
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ui_evt_id_t ids[8];
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int n = pop_ids(ids, 8);
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if (!has_id(ids, n, EVT_PROCESS_SELECTED) || !has_id(ids, n, EVT_STEP_VIEW)) {
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fail("select_c41_step_view events");
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}
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}
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static void adjust_does_not_mutate_const(void)
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{
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app_machine_init();
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ui_cmd_t c = cmd_select(PROC_C41);
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app_machine_handle_cmd(&c);
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ui_cmd_t adj;
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memset(&adj, 0, sizeof(adj));
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adj.id = CMD_ADJUST_STEP_TIME;
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adj.time_delta_s = 5;
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app_machine_handle_cmd(&adj);
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const process_def_t *p = app_process_get(PROC_C41);
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expect_int((int)p->steps[0].time_s, 180, "adjust_does_not_mutate_const const time");
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expect_int((int)app_process_time_s(PROC_C41, 0), 185, "adjust_does_not_mutate_const overlay");
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}
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static void arm_start_complete_custom_10s(void)
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{
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app_machine_init();
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ui_cmd_t c = cmd_select(PROC_CUSTOM);
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app_machine_handle_cmd(&c);
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ui_cmd_t arm = cmd_arm(0);
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app_machine_handle_cmd(&arm);
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expect_int((int)app_machine_state(), ST_ARMED, "custom arm state");
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ui_cmd_t start = cmd_start(0);
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app_machine_handle_cmd(&start);
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expect_int((int)app_machine_state(), ST_RUNNING, "custom start state");
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expect_int(stub_motor_enabled ? 1 : 0, 1, "custom motor on");
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app_machine_tick(0);
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expect_int((int)app_machine_state(), ST_RUNNING, "custom tick0");
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app_machine_tick(9999);
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expect_int((int)app_machine_state(), ST_RUNNING, "custom tick9999");
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app_machine_tick(10000);
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expect_int((int)app_machine_state(), ST_COMPLETE, "custom complete");
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expect_int(stub_motor_enabled ? 1 : 0, 0, "custom motor off complete");
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expect_int(stub_alarm_count >= 1 ? 1 : 0, 1, "custom alarm");
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/* default auto_advance false */
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app_machine_tick(10001);
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expect_int((int)app_machine_state(), ST_COMPLETE, "auto_advance stays complete");
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}
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static void stop_disables_motor_and_resume(void)
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{
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app_machine_init();
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ui_cmd_t c = cmd_select(PROC_CUSTOM);
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app_machine_handle_cmd(&c);
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ui_cmd_t arm = cmd_arm(0);
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app_machine_handle_cmd(&arm);
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ui_cmd_t start = cmd_start(0);
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app_machine_handle_cmd(&start);
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app_machine_tick(0);
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app_machine_tick(1000);
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int stops_before = stub_stop_count;
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ui_cmd_t stop = cmd_id(CMD_STOP);
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app_machine_handle_cmd(&stop);
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expect_int((int)app_machine_state(), ST_STOPPED, "stop state");
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expect_int(stub_motor_enabled ? 1 : 0, 0, "stop motor disabled");
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expect_int(stub_stop_count >= stops_before + 1 ? 1 : 0, 1, "stop_count");
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uint32_t rem = app_machine_remaining_ms();
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if (rem < 8000 || rem > 10000) {
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fprintf(stderr, "FAIL: remaining after stop got=%u\n", rem);
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g_failures++;
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}
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int beeps = stub_beep_count;
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ui_cmd_t resume = cmd_id(CMD_RESUME);
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app_machine_handle_cmd(&resume);
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expect_int((int)app_machine_state(), ST_RUNNING, "resume state");
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expect_int(stub_beep_count >= beeps + 1 ? 1 : 0, 1, "resume beep");
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app_machine_tick(1000);
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app_machine_tick(1000 + rem);
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expect_int((int)app_machine_state(), ST_COMPLETE, "resume then complete");
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}
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static void return_from_stopped(void)
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{
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app_machine_init();
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ui_cmd_t c = cmd_select(PROC_CUSTOM);
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app_machine_handle_cmd(&c);
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ui_cmd_t arm = cmd_arm(0);
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app_machine_handle_cmd(&arm);
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ui_cmd_t start = cmd_start(0);
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app_machine_handle_cmd(&start);
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app_machine_tick(0);
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app_machine_tick(1000);
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ui_cmd_t stop = cmd_id(CMD_STOP);
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app_machine_handle_cmd(&stop);
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uint32_t rem = app_machine_remaining_ms();
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ui_cmd_t ret = cmd_id(CMD_RETURN_TO_STEP_SELECT);
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app_machine_handle_cmd(&ret);
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expect_int((int)app_machine_state(), ST_STEP_SELECT, "return_from_stopped state");
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uint16_t overlay = app_process_time_s(PROC_CUSTOM, 0);
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uint16_t expect_s = (uint16_t)((rem + 999u) / 1000u);
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expect_int((int)overlay, (int)expect_s, "return_from_stopped overlay");
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expect_int((int)app_process_get(PROC_CUSTOM)->steps[0].time_s, 10, "const still 10");
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}
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static void stop_during_complete_cancels_alarm(void)
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{
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app_machine_init();
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ui_cmd_t c = cmd_select(PROC_CUSTOM);
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app_machine_handle_cmd(&c);
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ui_cmd_t arm = cmd_arm(0);
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app_machine_handle_cmd(&arm);
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ui_cmd_t start = cmd_start(0);
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app_machine_handle_cmd(&start);
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app_machine_tick(0);
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app_machine_tick(10000);
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expect_int((int)app_machine_state(), ST_COMPLETE, "complete before stop");
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int cancels = stub_alarm_cancel_count;
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ui_cmd_t stop = cmd_id(CMD_STOP);
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app_machine_handle_cmd(&stop);
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expect_int((int)app_machine_state(), ST_STEP_SELECT, "stop from complete");
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expect_int(stub_alarm_cancel_count >= cancels + 1 ? 1 : 0, 1, "alarm cancel");
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}
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static void ecn2_remjet_zero_time(void)
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{
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app_machine_init();
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ui_cmd_t c = cmd_select(PROC_ECN2);
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app_machine_handle_cmd(&c);
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ui_cmd_t browse;
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memset(&browse, 0, sizeof(browse));
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browse.id = CMD_BROWSE_STEP;
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browse.step_delta = 1;
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app_machine_handle_cmd(&browse);
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expect_int((int)app_machine_step_index(), 1, "remjet index");
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ui_cmd_t arm = cmd_arm(1);
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app_machine_handle_cmd(&arm);
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int starts = stub_agitate_start_count;
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ui_cmd_t start = cmd_start(1);
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app_machine_handle_cmd(&start);
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expect_int(stub_motor_enabled ? 1 : 0, 0, "remjet no enable");
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expect_int(stub_agitate_start_count, starts, "remjet no agitate");
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app_machine_tick(0);
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expect_int((int)app_machine_state(), ST_COMPLETE, "remjet complete next tick");
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}
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static void stop_ignored_meaningless_in_idle(void)
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{
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app_machine_init();
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int stops = stub_stop_count;
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int enables = stub_motor_enabled ? 1 : 0;
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ui_cmd_t stop = cmd_id(CMD_STOP);
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app_machine_handle_cmd(&stop);
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expect_int((int)app_machine_state(), ST_IDLE, "idle stays idle");
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expect_int(stub_stop_count, stops, "idle no request_stop required");
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(void)enables;
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}
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static void c41_clock(void)
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{
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app_machine_init();
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ui_cmd_t c = cmd_select(PROC_C41);
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app_machine_handle_cmd(&c);
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ui_cmd_t arm = cmd_arm(0);
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app_machine_handle_cmd(&arm);
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ui_cmd_t start = cmd_start(0);
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app_machine_handle_cmd(&start);
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app_machine_tick(0);
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expect_int((int)app_machine_state(), ST_RUNNING, "c41 tick0");
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app_machine_tick(179999);
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expect_int((int)app_machine_state(), ST_RUNNING, "c41 tick179999");
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app_machine_tick(180000);
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expect_int((int)app_machine_state(), ST_COMPLETE, "c41 tick180000");
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}
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int main(void)
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{
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select_c41_step_view();
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adjust_does_not_mutate_const();
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arm_start_complete_custom_10s();
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stop_disables_motor_and_resume();
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return_from_stopped();
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stop_during_complete_cancels_alarm();
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ecn2_remjet_zero_time();
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stop_ignored_meaningless_in_idle();
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c41_clock();
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if (g_failures == 0) {
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printf("test_machine: all assertions passed\n");
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return 0;
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}
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fprintf(stderr, "test_machine: %d failure(s)\n", g_failures);
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return 1;
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}
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