#4 Uart initialization

Uart baud rate should be 115200 on initialization

.github/workflows/ci-arduino-nano-33-ble.yml

@@ -1,6 +1,6 @@
 name: CI-Arduino-Nano-33-BLE
 
-on: [push, pull_request]
+on: [push]
 
 jobs:
   test:

.github/workflows/ci-native.yml

@@ -1,6 +1,6 @@
 name: CI-native
 
-on: [push, pull_request]
+on: [push]
 
 jobs:
   test:

.pre-commit-config.yaml

@@ -1,8 +1,11 @@
+default_install_hook_types: [pre-push]
+default_stages: [pre-push]
+repos:
 -   repo: local
     hooks:
     -   id: pio-test
         name: pio-test
-        entry: pio test -e native
+        entry: pio test -e native -e nano33ble-renode --without-uploading
         pass_filenames: false
         language: system
-        stages: [push]
+        stages: [pre-push]

Pipfile

@@ -0,0 +1,12 @@
+[[source]]
+url = "https://pypi.org/simple"
+verify_ssl = true
+name = "pypi"
+
+[packages]
+
+[dev-packages]
+pre-commit = "*"
+
+[requires]
+python_version = "3.8"

TODO.md

@@ -4,7 +4,12 @@
   - ~~RoboCaddie sends a STOP message to the motor when it is stopped~~
   - ~~RoboCaddie transmits a message to the motor every 30ms~~
   - ~~Arduino Nano 33 BLE support~~
-  - Go to metal: Integration tests
+  - Go to metal:
+    - Main loop
+    - Arduino UART implementation
+      - ~~UART baud rate initialization~~
+    - Arduino TimeService implementation
+    - Consecutive messages should increase CI (Continuity counter) and CS (CheckSum) values
 - RoboCaddie goes forward when it receives a forward command
 - RoboCaddie goes backward when it receives a backward command
 - RoboCaddie goes left when it receives a left command

lib/RoboCaddie/src/RoboCaddie.cpp

@@ -9,6 +9,8 @@ RoboCaddie::~RoboCaddie() {}
 
 int RoboCaddie::getStatus() { return STOP; }
 
+void RoboCaddie::init() { uart.init(); }
+
 void RoboCaddie::transmission() {
   std::vector<uint8_t> stopMsg = {0x04, 0x01, 0x0A, 0x57, 0x0E, 0x00, 0x00,
                                   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90};

lib/RoboCaddie/src/RoboCaddie.h

@@ -16,6 +16,7 @@ class RoboCaddie {
   RoboCaddie(RoboCaddieUART::UART &, TimeService &);
   ~RoboCaddie();
   int getStatus();
+  void init();
   void transmission();
   void run();
 };

lib/RoboCaddie/src/UART.h

@@ -10,6 +10,7 @@ class UART {
 public:
   UART() {}
   ~UART() {}
+  virtual void init(void) = 0;
   virtual int transmit(const uint8_t *message, int length) = 0;
 };
 
@@ -19,6 +20,7 @@ class SpyUART : public RoboCaddieUART::UART {
 private:
   std::vector<uint8_t> lastSentMessage;
   uint64_t numberOfExecutions = 0;
+  uint64_t baudRate = 0;
   const int MAX_UART_MESSAGE_LENGTH = 258;
 
 public:
@@ -27,6 +29,8 @@ class SpyUART : public RoboCaddieUART::UART {
     lastSentMessage = {};
   }
 
+  void init() { baudRate = 115200; }
+
   int transmit(const uint8_t *message, int length) {
     lastSentMessage.assign(message, message + length);
     numberOfExecutions = numberOfExecutions + 1;
@@ -35,6 +39,7 @@ class SpyUART : public RoboCaddieUART::UART {
 
   std::vector<uint8_t> getLastSentMessage() { return lastSentMessage; }
   uint8_t getNumbersOfExecutions() { return numberOfExecutions; }
+  uint64_t getBaudRate() { return baudRate; }
 };
 
 #endif

platformio.ini

@@ -10,6 +10,7 @@
 
 [env:native]
 platform = native
+test_ignore = test_runner_embedded
 
 [env:nano33ble]
 platform = [email protected]
@@ -18,15 +19,11 @@ framework = arduino
 ; Use arduino framework Unity version instead of Platformio default version
 ; https://docs.platformio.org/en/stable/advanced/unit-testing/frameworks/custom/examples/custom_unity_library.html
 test_framework = custom
+test_ignore = test_runner_native
 
 [env:nano33ble-renode]
-platform = [email protected]
-board = nano33ble
-framework = arduino
+extends = env:nano33ble
 build_flags = -DRENODE_ENVIRONMENT
-; Use arduino framework Unity version instead of Platformio default version
-; https://docs.platformio.org/en/stable/advanced/unit-testing/frameworks/custom/examples/custom_unity_library.html
-test_framework = custom
 platform_packages =
     platformio/tool-renode
 test_testing_command =

test/Test_RoboCaddie.cpp → test/RoboCaddie/RoboCaddieTests.h

@@ -1,19 +1,21 @@
 #ifdef UNIT_TEST
 
-#ifdef ARDUINO_ARCH_MBED
-#include <Arduino.h>
-#endif
-#include <RoboCaddie.h>
-#include <TimeService.h>
-#include <unity.h>
-
-// Fix arduino/ArduinoCore-mbed issue:
-// https://github.com/platformio/platformio-core/issues/3980#issuecomment-1500895461
-#ifdef ARDUINO_ARCH_MBED
-#ifndef RENODE_ENVIRONMENT
-REDIRECT_STDOUT_TO(Serial);
-#endif
-#endif
+void test_robocaddie_is_stopped_on_startup();
+void test_a_STOP_message_is_sent_to_the_motor_when_robocaddie_status_is_STOP();
+void test_robocaddie_sends_a_transmission_every_30_ms();
+void test_uart_baud_rate_should_be_115200();
+
+int run_tests() {
+  UNITY_BEGIN();
+
+  RUN_TEST(test_robocaddie_is_stopped_on_startup);
+  RUN_TEST(
+      test_a_STOP_message_is_sent_to_the_motor_when_robocaddie_status_is_STOP);
+  RUN_TEST(test_robocaddie_sends_a_transmission_every_30_ms);
+  RUN_TEST(test_uart_baud_rate_should_be_115200);
+
+  return UNITY_END();
+}
 
 void test_robocaddie_is_stopped_on_startup() {
   SpyUART uart;
@@ -101,38 +103,16 @@ void test_robocaddie_sends_a_transmission_every_30_ms() {
   TEST_ASSERT_EQUAL_UINT64(2, uart.getNumbersOfExecutions());
 }
 
-#ifndef ARDUINO_ARCH_MBED
-
-int main(int argc, char **argv) {
-  UNITY_BEGIN();
-
-  RUN_TEST(test_robocaddie_is_stopped_on_startup);
-  RUN_TEST(
-      test_a_STOP_message_is_sent_to_the_motor_when_robocaddie_status_is_STOP);
-  RUN_TEST(test_robocaddie_sends_a_transmission_every_30_ms);
-
-  UNITY_END();
-}
-
-#endif
-
-#ifdef ARDUINO_ARCH_MBED
-
-void setup() {
-  delay(2000);
+void test_uart_baud_rate_should_be_115200() {
+  SpyUART uart;
+  FakeTimeService time;
+  RoboCaddie robocaddie(uart, time);
 
-  UNITY_BEGIN();
+  TEST_ASSERT_EQUAL_UINT64(0, uart.getBaudRate());
 
-  RUN_TEST(test_robocaddie_is_stopped_on_startup);
-  RUN_TEST(
-      test_a_STOP_message_is_sent_to_the_motor_when_robocaddie_status_is_STOP);
-  RUN_TEST(test_robocaddie_sends_a_transmission_every_30_ms);
+  robocaddie.init();
 
-  UNITY_END();
+  TEST_ASSERT_EQUAL_UINT64(115200, uart.getBaudRate());
 }
 
-void loop() { delay(1000); }
-
-#endif
-
 #endif

test/test_runner_embedded/Test_Embedded.cpp

@@ -0,0 +1,23 @@
+#ifdef UNIT_TEST
+
+#include <Arduino.h>
+#include <RoboCaddie.h>
+#include <unity.h>
+
+#include "RoboCaddie/RoboCaddieTests.h"
+
+// Fix arduino/ArduinoCore-mbed issue:
+// https://github.com/platformio/platformio-core/issues/3980#issuecomment-1500895461
+#ifndef RENODE_ENVIRONMENT
+REDIRECT_STDOUT_TO(Serial);
+#endif
+
+void setup() {
+  delay(2000);
+
+  run_tests();
+}
+
+void loop() { delay(1000); }
+
+#endif

test/test_runner_native/Test_Native.cpp

@@ -0,0 +1,10 @@
+#ifdef UNIT_TEST
+
+#include <RoboCaddie.h>
+#include <unity.h>
+
+#include "RoboCaddie/RoboCaddieTests.h"
+
+int main() { return run_tests(); }
+
+#endif