From bcaffe767f73e268c540b8d38d3acc913d402d8c Mon Sep 17 00:00:00 2001
From: Jan <jan.koch@stud.ui-due.de>
Date: Thu, 13 Feb 2025 17:03:06 +0100
Subject: [PATCH] feat(hardware-test): automate hw test for freertos queue

Checks:
- creation of FreeRTOS queue
- basic message exchange
- changing message dynamically before pushing to queue
- overflow of queue
---
 test/hardware/AutomatedHWTests/CMakeLists.txt |  15 +++
 .../AutomatedHWTests/TestFreeRTOSQueue.c      | 104 ++++++++++++++++++
 2 files changed, 119 insertions(+)
 create mode 100644 test/hardware/AutomatedHWTests/TestFreeRTOSQueue.c

diff --git a/test/hardware/AutomatedHWTests/CMakeLists.txt b/test/hardware/AutomatedHWTests/CMakeLists.txt
index 03e88258..b5adfd01 100644
--- 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()
\ No newline at end of file
diff --git a/test/hardware/AutomatedHWTests/TestFreeRTOSQueue.c b/test/hardware/AutomatedHWTests/TestFreeRTOSQueue.c
new file mode 100644
index 00000000..9da60cda
--- /dev/null
+++ b/test/hardware/AutomatedHWTests/TestFreeRTOSQueue.c
@@ -0,0 +1,104 @@
+#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 testCreateQueueSuccessful(void) {
+    TEST_ASSERT_NOT_NULL(messageQueue);
+}
+
+void testBasicMessageExchange() {
+    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);
+}
+
+void testMessageContentDynamicallyChangedBeforeEnqueueing() {
+    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);
+}
+
+void testQueueOverflowAfterMaxSizeReached() {
+    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 tearDown() {}
+void deInit() {
+    rom_reset_usb_boot(0, 0);
+}
+
+void testRunnerTask() {
+    PRINT_DEBUG("Starting Unity tests...");
+    UNITY_BEGIN();
+    RUN_TEST(testCreateQueueSuccessful);
+    RUN_TEST(testBasicMessageExchange);
+    RUN_TEST(testMessageContentDynamicallyChangedBeforeEnqueueing);
+    RUN_TEST(testQueueOverflowAfterMaxSizeReached);
+    UNITY_END();
+    PRINT_DEBUG("Unity tests finished...");
+    deInit();
+}
+
+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);
+
+    PRINT_DEBUG("Starting FreeRTOS scheduler...");
+    freeRtosTaskWrapperStartScheduler();
+}