Add implementations for breezy board and test board to pass tests

rosflight · Jan 9, 2020 · 9d417d2 · 9d417d2
1 parent cf19795
commit 9d417d2
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Showing 11 changed files with 171 additions and 7 deletions.
diff --git a/boards/airbourne/airbourne_board_config_manager.cpp b/boards/airbourne/airbourne_board_config_manager.cpp
@@ -155,7 +155,7 @@ void AirbourneBoardConfigManager::get_device_name(device_t device, uint8_t (&nam
 void AirbourneBoardConfigManager::get_config_name(device_t device, hardware_config_t config, uint8_t (&name)[CONFIG_NAME_LENGTH])
 {
   char *name_char = reinterpret_cast<char*>(name);
-  const char *name_str;
+  const char *name_str = "Invalid Config";
   switch(device)
   {
   case Configuration::SERIAL:

diff --git a/boards/breezy/Makefile b/boards/breezy/Makefile
@@ -72,7 +72,8 @@ STDPERIPH_SRC	 = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 VPATH			:= $(VPATH):$(BOARD_DIR)
 BOARD_C_SRC     = flash.c
 BOARD_CXX_SRC   = breezy_board.cpp \
-                  main.cpp
+                  main.cpp \
+                  breezy_board_config_manager.cpp
 
 # Hardware Driver Source Files
 BREEZY_SRC = drv_gpio.c \

diff --git a/boards/breezy/breezy_board.cpp b/boards/breezy/breezy_board.cpp
@@ -81,9 +81,9 @@ void BreezyBoard::clock_delay(uint32_t milliseconds)
 
 // serial
 
-void BreezyBoard::serial_init(uint32_t baud_rate, uint32_t dev)
+void BreezyBoard::serial_init(uint32_t baud_rate, hardware_config_t configuration)
 {
-  (void)dev;
+  (void)configuration;
   Serial1 = uartOpen(USART1, NULL, baud_rate, MODE_RXTX);
 }
 
@@ -110,6 +110,24 @@ void BreezyBoard::serial_flush()
   return;
 }
 
+bool BreezyBoard::enable_device(device_t device, hardware_config_t configuration, const Params &params)
+{
+  (void)device;
+  (void)configuration;
+  (void)params;
+  return true;
+}
+
+void BreezyBoard::init_board_config_manager(ROSflight *rf)
+{
+  (void)rf;
+}
+
+BreezyBoardConfigManager &BreezyBoard::get_board_config_manager()
+{
+  return config_manager_;
+}
+
 // sensors
 
 void BreezyBoard::sensors_init()

diff --git a/boards/breezy/breezy_board.h b/boards/breezy/breezy_board.h
@@ -43,6 +43,8 @@ extern "C"
 
 #include "board.h"
 #include "sensors.h"
+#include "configuration_enum.h"
+#include "breezy_board_config_manager.h"
 
 namespace rosflight_firmware
 {
@@ -79,6 +81,7 @@ class BreezyBoard : public Board
 
   bool new_imu_data_;
   uint64_t imu_time_us_;
+  BreezyBoardConfigManager config_manager_;
 
 public:
   BreezyBoard();
@@ -93,12 +96,17 @@ class BreezyBoard : public Board
   void clock_delay(uint32_t milliseconds) override;
 
   // serial
-  void serial_init(uint32_t baud_rate, uint32_t dev) override;
+  void serial_init(uint32_t baud_rate, hardware_config_t configuration) override;
   void serial_write(const uint8_t *src, size_t len) override;
   uint16_t serial_bytes_available() override;
   uint8_t serial_read() override;
   void serial_flush() override;
 
+  // hardware config
+  bool enable_device(device_t device, hardware_config_t configuration, const Params &params) override;
+  void init_board_config_manager(ROSflight *rf) override;
+  BreezyBoardConfigManager & get_board_config_manager() override;
+
   // sensors
   void sensors_init() override;
   uint16_t num_sensor_errors() override;

diff --git a/boards/breezy/breezy_board_config_manager.cpp b/boards/breezy/breezy_board_config_manager.cpp
@@ -0,0 +1,36 @@
+#include "breezy_board_config_manager.h"
+#include <cstring>
+
+namespace rosflight_firmware
+{
+hardware_config_t BreezyBoardConfigManager::get_max_config(device_t device)
+{
+  (void)device;
+  return 0;
+}
+
+ConfigManager::config_response BreezyBoardConfigManager::check_config_change(device_t device, hardware_config_t config)
+{
+  (void)device;
+  (void)config;
+  ConfigManager::config_response response;
+  response.successful = false;
+  response.reboot_required = false;
+  strcpy(reinterpret_cast<char*>(response.message), "Feature unsupported on naze");
+  return response;
+}
+
+void BreezyBoardConfigManager::get_device_name(device_t device, uint8_t (&name)[20])
+{
+  (void)device;
+  strcpy(reinterpret_cast<char*>(name), "Unsupported");
+}
+
+void BreezyBoardConfigManager::get_config_name(device_t device, hardware_config_t config, uint8_t (&name)[20])
+{
+  (void)device;
+  (void)config;
+  strcpy(reinterpret_cast<char*>(name), "Unsupported");
+}
+
+} // namespace rosflight_firmware
diff --git a/boards/breezy/breezy_board_config_manager.h b/boards/breezy/breezy_board_config_manager.h
@@ -0,0 +1,18 @@
+#ifndef BREEZYBOARDCONFIGMANAGER_H
+#define BREEZYBOARDCONFIGMANAGER_H
+
+#include "board_config_manager.h"
+
+namespace rosflight_firmware
+{
+class BreezyBoardConfigManager : public BoardConfigManager
+{
+public:
+  hardware_config_t get_max_config(device_t device) override;
+  ConfigManager::config_response check_config_change(device_t device, hardware_config_t config) override;
+  void get_device_name(device_t device, uint8_t (&name)[20]) override;
+  void get_config_name(device_t device, hardware_config_t config, uint8_t (&name)[20]) override;
+};
+} // namespace rosflight_firmware
+
+#endif // BREEZYBOARDCONFIGMANAGER_H
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -39,6 +39,8 @@ set(ROSFLIGHT_SRC
     ../src/command_manager.cpp
     ../src/rc.cpp
     ../src/mixer.cpp
+    ../src/memory_manager.cpp
+    ../src/config_manager.cpp
     ../comms/mavlink/mavlink.cpp
     ../lib/turbomath/turbomath.cpp
     )
@@ -51,6 +53,7 @@ add_executable(unit_tests
         common.cpp
         command_manager_test.cpp
         test_board.cpp
+	test_board_config_manager.cpp
         turbotrig_test.cpp
         state_machine_test.cpp
         command_manager_test.cpp

diff --git a/test/test_board.cpp b/test/test_board.cpp
@@ -77,12 +77,30 @@ uint64_t testBoard::clock_micros() { return time_us_; }
 void testBoard::clock_delay(uint32_t milliseconds) {}
 
 // serial
-void testBoard::serial_init(uint32_t baud_rate, uint32_t dev) {}
+void testBoard::serial_init(uint32_t baud_rate, hardware_config_t configuration) {}
 void testBoard::serial_write(const uint8_t *src, size_t len) {}
 uint16_t testBoard::serial_bytes_available() { return 0; }
 uint8_t testBoard::serial_read() { return 0; }
 void testBoard::serial_flush() {}
 
+// Hardware config
+bool testBoard::enable_device(device_t device, hardware_config_t configuration, const Params &params)
+{
+  (void)device;
+  (void)configuration;
+  (void)params;
+  return true;
+}
+
+void testBoard::init_board_config_manager(ROSflight *rf)
+{
+  (void)rf;
+}
+
+TestBoardConfigManager &testBoard::get_board_config_manager()
+{
+  return config_manager_;
+}
 // sensors
 void testBoard::sensors_init() {}
 uint16_t testBoard::num_sensor_errors() { return 0; }

diff --git a/test/test_board.h b/test/test_board.h
@@ -34,6 +34,7 @@
 
 #include "board.h"
 #include "sensors.h"
+#include "test_board_config_manager.h"
 
 namespace rosflight_firmware
 {
@@ -48,6 +49,7 @@ class testBoard : public Board
   float acc_[3] = {0, 0, 0};
   float gyro_[3] = {0, 0, 0};
   bool new_imu_ = false;
+  TestBoardConfigManager config_manager_;
 
 public:
 // setup
@@ -60,12 +62,17 @@ class testBoard : public Board
   void clock_delay(uint32_t milliseconds) override;
 
 // serial
-  void serial_init(uint32_t baud_rate, uint32_t dev) override;
+  void serial_init(uint32_t baud_rate, hardware_config_t configuration) override;
   void serial_write(const uint8_t *src, size_t len) override;
   uint16_t serial_bytes_available() override;
   uint8_t serial_read() override;
   void serial_flush() override;
 
+// Hardware config
+  bool enable_device(device_t device, hardware_config_t configuration, const Params &params) override;
+  void init_board_config_manager(ROSflight *rf) override;
+  TestBoardConfigManager & get_board_config_manager() override;
+
 // sensors
   void sensors_init() override;
   uint16_t num_sensor_errors() ;

diff --git a/test/test_board_config_manager.cpp b/test/test_board_config_manager.cpp
@@ -0,0 +1,37 @@
+#include "test_board_config_manager.h"
+#include <cstring>
+#include <string>
+
+namespace rosflight_firmware
+{
+hardware_config_t TestBoardConfigManager::get_max_config(device_t device)
+{
+  (void)device;
+  return 0; // This is not needed to test other software
+}
+ConfigManager::config_response TestBoardConfigManager::check_config_change(device_t device, hardware_config_t config)
+{
+  // A couple variations are given for testing
+  ConfigManager::config_response response;
+  response.successful = true;
+  response.reboot_required = true;
+  if(device == Configuration::SERIAL && config == 1)
+  {
+    response.successful = false;
+    strcpy(reinterpret_cast<char*>(response.message), "Fail for testing");
+    return response;
+  }
+  strcpy(reinterpret_cast<char*>(response.message), "Succeed for testing");
+  return response;
+}
+void TestBoardConfigManager::get_device_name(device_t device, uint8_t (&name)[20])
+{
+  std::string device_name = "device #" + std::to_string(static_cast<int>(device));
+  strcpy(reinterpret_cast<char*>(name), device_name.c_str());
+}
+void TestBoardConfigManager::get_config_name(device_t device, hardware_config_t config, uint8_t (&name)[20])
+{
+  std::string config_name = "config " + std::to_string(static_cast<int>(device)) + ","+std::to_string(static_cast<int>(config));
+  strcpy(reinterpret_cast<char*>(name), config_name.c_str());
+}
+}
diff --git a/test/test_board_config_manager.h b/test/test_board_config_manager.h
@@ -0,0 +1,18 @@
+#ifndef TESTBOARDCONFIGMANAGER_H
+#define TESTBOARDCONFIGMANAGER_H
+
+#include "board_config_manager.h"
+
+namespace rosflight_firmware
+{
+class TestBoardConfigManager : public BoardConfigManager
+{
+public:
+  hardware_config_t get_max_config(device_t device) override;
+  ConfigManager::config_response check_config_change(device_t device, hardware_config_t config) override;
+  void get_device_name(device_t device, uint8_t (&name)[20]) override;
+  void get_config_name(device_t device, hardware_config_t config, uint8_t (&name)[20]) override;
+};
+
+} // rosflight_firmware
+#endif // TESTBOARDCONFIGMANAGER_H