feat(hardware-test): automated hw test for freertos queue

Checks: - creation of FreeRTOS queue - basic message exchange - changing message dynamically before pushing to queue - overflow of queue
es-ude · Feb 13, 2025 · dfb7180 · dfb7180
1 parent 36afabe
commit dfb7180
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diff --git a/test/hardware/AutomatedHWTests/CMakeLists.txt b/test/hardware/AutomatedHWTests/CMakeLists.txt
@@ -13,4 +13,19 @@ if(BUILDING_FOR_ELASTIC_NODE)
             unity
     )
     create_enV5_executable(TestFlash)
+
+    add_executable(TestFreeRTOSQueue TestFreeRTOSQueue.c)
+    target_link_libraries(TestFreeRTOSQueue PRIVATE
+            Common
+            EnV5HwController
+            freeRtosUtils
+
+            freeRtos::FreeRTOS-Kernel
+            Pico::pico_stdlib
+            Pico::pico_bootrom
+            Pico::hardware_spi
+
+            unity
+    )
+    create_enV5_executable(TestFreeRTOSQueue)
 endif()
diff --git a/test/hardware/AutomatedHWTests/TestFreeRTOSQueue.c b/test/hardware/AutomatedHWTests/TestFreeRTOSQueue.c
@@ -0,0 +1,116 @@
+#define SOURCE_FILE "FREERTOS-HWTEST"
+
+#include "Common.h"
+#include "EnV5HwController.h"
+#include "FreeRtosQueueWrapper.h"
+#include "FreeRtosTaskWrapper.h"
+#include "stdlib.h"
+#include "string.h"
+#include "unity.h"
+
+#include "pico/bootrom.h"
+#include "pico/stdio_usb.h"
+
+#define QUEUE_SIZE 5
+
+typedef struct message {
+    uint16_t messageId;
+    char content[15];
+} message_t;
+
+queue_t messageQueue;
+char staticMessage[] = "STATIC MSG";
+char dynamicMessage[] = "DYNAMIC MSG";
+
+void init(void) {
+    stdio_init_all();
+    while ((!stdio_usb_connected())) {}
+    env5HwControllerInit();
+}
+
+void testCreateQueue(void) {
+    TEST_ASSERT_NOT_NULL(messageQueue);
+}
+
+// tests basic message exchange
+void testMessageExchange() {
+    message_t sentMessage = {.messageId = 1};
+    strcpy(sentMessage.content, staticMessage);
+
+    TEST_ASSERT_TRUE(freeRtosQueueWrapperPush(messageQueue, &sentMessage));
+
+    message_t receivedMessage;
+    TEST_ASSERT_TRUE(freeRtosQueueWrapperPop(messageQueue, &receivedMessage));
+    TEST_ASSERT_EQUAL_UINT16(1, receivedMessage.messageId);
+    TEST_ASSERT_EQUAL_STRING(staticMessage, receivedMessage.content);
+}
+
+// tests if message content is dynamically changed before pushing to queue
+void testDynamicMessageReplacement(void) {
+    message_t sentMessage = {.messageId = 3};
+    strcpy(sentMessage.content, staticMessage);
+    if (sentMessage.messageId % 2) {
+        strcpy(sentMessage.content, dynamicMessage);
+    }
+
+    TEST_ASSERT_TRUE(freeRtosQueueWrapperPush(messageQueue, &sentMessage));
+
+    message_t receivedMessage;
+    TEST_ASSERT_TRUE(freeRtosQueueWrapperPop(messageQueue, &receivedMessage));
+    TEST_ASSERT_EQUAL_UINT16(3, receivedMessage.messageId);
+    TEST_ASSERT_EQUAL_STRING(dynamicMessage, receivedMessage.content);
+}
+
+// tests if push to queue is successful up until the queue size is reached
+void testQueueOverflow(void) {
+    message_t message;
+    for (int i = 0; i < QUEUE_SIZE; i++) {
+        message.messageId = i;
+        strcpy(message.content, staticMessage);
+        TEST_ASSERT_TRUE(freeRtosQueueWrapperPush(messageQueue, &message));
+    }
+
+    message.messageId = QUEUE_SIZE + 1;
+    strcpy(message.content, staticMessage);
+    TEST_ASSERT_FALSE(freeRtosQueueWrapperPush(messageQueue, &message));
+}
+
+void setUp(void) {}
+void tearDown(void) {}
+void deInit() {
+    rom_reset_usb_boot(0, 0);
+}
+
+// runs unit tests
+void testRunnerTask() {
+    PRINT_DEBUG("Starting Unity tests...");
+    UNITY_BEGIN();
+    RUN_TEST(testCreateQueue);
+    RUN_TEST(testMessageExchange);
+    RUN_TEST(testDynamicMessageReplacement);
+    RUN_TEST(testQueueOverflow);
+    UNITY_END();
+    PRINT_DEBUG("Unity tests finished...");
+    deInit();
+}
+
+// task for second core
+_Noreturn void idleTask() {
+    while (1) {
+        freeRtosTaskWrapperTaskSleep(1000);
+    }
+}
+
+int main(void) {
+    init();
+
+    PRINT_DEBUG("Creating queue...");
+    messageQueue = freeRtosQueueWrapperCreate(QUEUE_SIZE, sizeof(message_t));
+
+    PRINT_DEBUG("Registering test task...");
+    freeRtosTaskWrapperRegisterTask(testRunnerTask, "test_runner", 1, FREERTOS_CORE_0);
+    freeRtosTaskWrapperRegisterTask(idleTask, "idle_task", 0, FREERTOS_CORE_1);
+
+    PRINT_DEBUG("Starting FreeRTOS scheduler...");
+    freeRtosTaskWrapperStartScheduler();
+}