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kelvinkoonkelvinkoon
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Create a Testing Framework for Primitives (#1790)
* Try to add fff build * Try to add fff again * Try to fix fff * Try to get fff again again * Add draft of autochip move primitive test * Add void pointer and try to call it * Remove test file * Add a built test without verifying the mock functions * Finish autochip test draft * Clean up some tests * Good night * One last thing I forgot * Add comments * Add null pointer to test, it fails * Make namespace for fake * Add namespace and reset * Separate firmwareworldtest into a different file * Fix build comment and separate wheel init * Fix BUILD file * Add something I forgot * Add EOF * Add more documentation * Add more documentation * Add destroy * Update comments and free
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Diff for: ‎src/WORKSPACE

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Original file line numberDiff line numberDiff line change
@@ -94,6 +94,14 @@ git_repository(
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shallow_since = "1549966854 -0800",
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)
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# Fake Function Framework
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new_git_repository(
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name = "fff",
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build_file = "@//external:fff.BUILD",
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commit = "7e09f07e5b262b1cc826189dc5057379e40ce886",
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remote = "https://github.com/meekrosoft/fff.git",
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)
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# Right now qt5 is installed on the system using the setup_software.sh script
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# We assume we can find the headers in the "standard" path used in this rule
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new_local_repository(

Diff for: ‎src/external/fff.BUILD

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@@ -0,0 +1,10 @@
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# Description:
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# This library provides us with creating function test doubles
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# Primarily used for testing firmware primitives in `firmware/app/primitives`
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# https://github.com/meekrosoft/fff
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cc_library(
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name = "fff",
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hdrs = ["fff.h"],
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visibility = ["//visibility:public"],
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)

Diff for: ‎src/firmware/app/primitives/BUILD

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@@ -145,6 +145,25 @@ cc_library(
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],
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)
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cc_test(
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name = "autochip_move_test",
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srcs = ["autochip_move_primitive_test.cpp"],
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deps = [
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":autochip_move",
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":test_util_world",
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],
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)
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cc_library(
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name = "test_util_world",
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hdrs = ["test_util_world.h"],
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deps = [
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":primitive_manager",
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"@fff",
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"@gtest//:gtest_main",
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],
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)
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cc_library(
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name = "stop",
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srcs = ["stop_primitive.c"],

Diff for: ‎src/firmware/app/primitives/autochip_move_primitive_test.cpp

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extern "C"
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{
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#include "autochip_move_primitive.h"
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}
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#include "firmware/app/primitives/test_util_world.h"
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TEST_F(FirmwareTestUtilWorld, app_autochip_move_primitive_test)
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{
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TbotsProto_Primitive primitive_msg;
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primitive_msg.which_primitive = TbotsProto_Primitive_autochip_move_tag;
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TbotsProto_AutochipMovePrimitive autochip_primitive_msg;
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autochip_primitive_msg.dribbler_speed_rpm = 1.0;
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autochip_primitive_msg.chip_distance_meters = 2.0;
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primitive_msg.primitive.autochip_move = autochip_primitive_msg;
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PrimitiveManager_t* manager = app_primitive_manager_create();
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app_primitive_manager_startNewPrimitive(manager, firmware_world, primitive_msg);
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// Checking `dribbler_speed_rpm` is passed into `app_dribbler_setSpeed` mock
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ASSERT_EQ(FirmwareTestUtil::set_requested_rpm_fake.arg0_val, 1.0);
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// Checking `chip_distance_meters` is passed into `app_chicker_enableAutokick` mock
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ASSERT_EQ(FirmwareTestUtil::enable_auto_chip_fake.arg0_val, 2.0);
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app_primitive_manager_destroy(manager);
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}

Diff for: ‎src/firmware/app/primitives/test_util_world.h

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/**
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* This file is a base fixture for testing firmware primitives
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* The `fff` framework creates 'fake' functions for robot and world
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* "Fake" functions use a macro to create a struct called `"FUNCTION_NAME"_fake`
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* e.g. FAKE_VOID_FUNC(set_requested_rpm, int) -> set_requested_rpm_fake.arg0_val
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* `set_requested_rpm` mocked to take in an int. To see the last argument called, access
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* `arg0_val` in the struct
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* For more information, please visit the documentation:
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* https://github.com/meekrosoft/fff
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*/
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#include "fff.h"
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DEFINE_FFF_GLOBALS;
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extern "C"
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{
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#include "firmware/app/primitives/primitive_manager.h"
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}
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#include <gtest/gtest.h>
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/**
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* Initializing all the mock functions required for robot and world
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* Mocks with no return types or arguments:
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* https://github.com/meekrosoft/fff#hello-fake-world
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* Mocks with input arguments:
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* https://github.com/meekrosoft/fff#capturing-arguments
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* Mocks with outputs:
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* https://github.com/meekrosoft/fff#return-values
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*/
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namespace FirmwareTestUtil
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{
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// Mock fake charger functions
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FAKE_VOID_FUNC(charge_capacitor);
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FAKE_VOID_FUNC(discharge_capacitor);
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FAKE_VOID_FUNC(float_capacitor);
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// Mock fake chicker functions
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FAKE_VOID_FUNC(set_kick_speed, float);
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FAKE_VOID_FUNC(set_chip_distance, float);
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FAKE_VOID_FUNC(enable_auto_kick, float);
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FAKE_VOID_FUNC(enable_auto_chip, float);
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FAKE_VOID_FUNC(disable_auto_chip);
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FAKE_VOID_FUNC(disable_auto_kick);
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// Mock fake dribbler functions
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FAKE_VOID_FUNC(set_requested_rpm, uint32_t);
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FAKE_VOID_FUNC(enable_coast);
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FAKE_VALUE_FUNC(unsigned int, get_temperature_deg_c);
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// Mock fake robot functions
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FAKE_VALUE_FUNC(float, get_robot_property);
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// Mock fake wheel functions
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FAKE_VOID_FUNC(request_wheel_force_front_right, float);
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FAKE_VALUE_FUNC(float, get_motor_speed_front_right);
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FAKE_VOID_FUNC(brake_front_right);
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FAKE_VOID_FUNC(coast_front_right);
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FAKE_VOID_FUNC(request_wheel_force_front_left, float);
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FAKE_VALUE_FUNC(float, get_motor_speed_front_left);
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FAKE_VOID_FUNC(brake_front_left);
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FAKE_VOID_FUNC(coast_front_left);
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FAKE_VOID_FUNC(request_wheel_force_back_right, float);
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FAKE_VALUE_FUNC(float, get_motor_speed_back_right);
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FAKE_VOID_FUNC(brake_back_right);
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FAKE_VOID_FUNC(coast_back_right);
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FAKE_VOID_FUNC(request_wheel_force_back_left, float);
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FAKE_VALUE_FUNC(float, get_motor_speed_back_left);
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FAKE_VOID_FUNC(brake_back_left);
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FAKE_VOID_FUNC(coast_back_left);
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// Mock fake ball functions
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FAKE_VALUE_FUNC(float, get_ball_property);
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}; // namespace FirmwareTestUtil
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// Mock wheel state
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WheelConstants_t wheel_constants = {.motor_current_per_unit_torque = 1.1f,
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.motor_phase_resistance = 1.2f,
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.motor_back_emf_per_rpm = 1.3f,
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.motor_max_voltage_before_wheel_slip = 1.4f,
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.wheel_radius = 1.5f,
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.wheel_rotations_per_motor_rotation = 0.5f};
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// Mock controller state
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ControllerState_t controller_state = {.last_applied_acceleration_x = 2.33f,
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.last_applied_acceleration_y = 1.22f,
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.last_applied_acceleration_angular = 3.22f};
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// Mock robot constants
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RobotConstants_t robot_constants = {
93+
.mass = 1.1f, .moment_of_inertia = 1.2f, .robot_radius = 1.3f, .jerk_limit = 1.4f};
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class FirmwareTestUtilWorld : public testing::Test
96+
{
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protected:
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/**
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* Resetting fake functions to ensure clean state in new tests
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* In accordance with fff's documentation
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* https://github.com/meekrosoft/fff#resetting-a-fake
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*/
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void resetFakes(void)
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{
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// Reset fake charger functions
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RESET_FAKE(FirmwareTestUtil::charge_capacitor);
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RESET_FAKE(FirmwareTestUtil::discharge_capacitor);
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RESET_FAKE(FirmwareTestUtil::float_capacitor);
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// Reset fake chicker functions
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RESET_FAKE(FirmwareTestUtil::set_kick_speed);
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RESET_FAKE(FirmwareTestUtil::set_chip_distance);
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RESET_FAKE(FirmwareTestUtil::enable_auto_kick);
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RESET_FAKE(FirmwareTestUtil::enable_auto_chip);
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RESET_FAKE(FirmwareTestUtil::disable_auto_chip);
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RESET_FAKE(FirmwareTestUtil::disable_auto_kick);
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// Reset fake dribbler functions
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RESET_FAKE(FirmwareTestUtil::set_requested_rpm);
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RESET_FAKE(FirmwareTestUtil::enable_coast);
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RESET_FAKE(FirmwareTestUtil::get_temperature_deg_c);
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// Reset fake robot functions
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RESET_FAKE(FirmwareTestUtil::get_robot_property);
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// Reset fake wheel functions
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RESET_FAKE(FirmwareTestUtil::request_wheel_force_front_right);
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RESET_FAKE(FirmwareTestUtil::get_motor_speed_front_right);
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RESET_FAKE(FirmwareTestUtil::brake_front_right);
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RESET_FAKE(FirmwareTestUtil::coast_front_right);
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RESET_FAKE(FirmwareTestUtil::request_wheel_force_front_left);
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RESET_FAKE(FirmwareTestUtil::get_motor_speed_front_left);
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RESET_FAKE(FirmwareTestUtil::brake_front_left);
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RESET_FAKE(FirmwareTestUtil::coast_front_left);
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RESET_FAKE(FirmwareTestUtil::request_wheel_force_back_right);
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RESET_FAKE(FirmwareTestUtil::get_motor_speed_back_right);
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RESET_FAKE(FirmwareTestUtil::brake_back_right);
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RESET_FAKE(FirmwareTestUtil::coast_back_right);
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RESET_FAKE(FirmwareTestUtil::request_wheel_force_back_left);
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RESET_FAKE(FirmwareTestUtil::get_motor_speed_back_left);
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RESET_FAKE(FirmwareTestUtil::brake_back_left);
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RESET_FAKE(FirmwareTestUtil::coast_back_left);
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// Reset fake ball functions
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RESET_FAKE(FirmwareTestUtil::get_ball_property);
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}
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virtual void SetUp(void)
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{
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// Reset fake function before running tests
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resetFakes();
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charger = app_charger_create(&(FirmwareTestUtil::charge_capacitor),
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&(FirmwareTestUtil::discharge_capacitor),
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&(FirmwareTestUtil::float_capacitor));
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chicker = app_chicker_create(
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&(FirmwareTestUtil::set_kick_speed), &(FirmwareTestUtil::set_chip_distance),
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&(FirmwareTestUtil::enable_auto_kick), &(FirmwareTestUtil::enable_auto_chip),
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&(FirmwareTestUtil::disable_auto_kick),
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&(FirmwareTestUtil::disable_auto_chip));
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dribbler = app_dribbler_create(&(FirmwareTestUtil::set_requested_rpm),
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&(FirmwareTestUtil::enable_coast),
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&(FirmwareTestUtil::get_temperature_deg_c));
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front_right_wheel =
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app_wheel_create(&(FirmwareTestUtil::request_wheel_force_front_right),
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&(FirmwareTestUtil::get_motor_speed_front_right),
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&(FirmwareTestUtil::brake_front_right),
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&(FirmwareTestUtil::coast_front_right), wheel_constants);
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front_left_wheel =
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app_wheel_create(&(FirmwareTestUtil::request_wheel_force_front_left),
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&(FirmwareTestUtil::get_motor_speed_front_left),
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&(FirmwareTestUtil::brake_front_left),
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&(FirmwareTestUtil::coast_front_left), wheel_constants);
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back_right_wheel =
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app_wheel_create(&(FirmwareTestUtil::request_wheel_force_back_right),
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&(FirmwareTestUtil::get_motor_speed_back_right),
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&(FirmwareTestUtil::brake_back_right),
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&(FirmwareTestUtil::coast_back_right), wheel_constants);
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back_left_wheel =
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app_wheel_create(&(FirmwareTestUtil::request_wheel_force_back_left),
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&(FirmwareTestUtil::get_motor_speed_back_left),
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&(FirmwareTestUtil::brake_back_left),
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&(FirmwareTestUtil::coast_back_left), wheel_constants);
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robot = app_firmware_robot_create(
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charger, chicker, dribbler, &(FirmwareTestUtil::get_robot_property),
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&(FirmwareTestUtil::get_robot_property),
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&(FirmwareTestUtil::get_robot_property),
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&(FirmwareTestUtil::get_robot_property),
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&(FirmwareTestUtil::get_robot_property),
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&(FirmwareTestUtil::get_robot_property),
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&(FirmwareTestUtil::get_robot_property), front_right_wheel, front_left_wheel,
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back_right_wheel, back_left_wheel, &controller_state, robot_constants);
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ball = app_firmware_ball_create(&(FirmwareTestUtil::get_ball_property),
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&(FirmwareTestUtil::get_ball_property),
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&(FirmwareTestUtil::get_ball_property),
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&(FirmwareTestUtil::get_ball_property));
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firmware_world = app_firmware_world_create(robot, ball);
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}
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virtual void TearDown(void)
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{
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app_charger_destroy(charger);
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app_chicker_destroy(chicker);
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app_dribbler_destroy(dribbler);
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app_wheel_destroy(front_right_wheel);
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app_wheel_destroy(front_left_wheel);
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app_wheel_destroy(back_right_wheel);
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app_wheel_destroy(back_left_wheel);
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app_firmware_robot_destroy(robot);
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app_firmware_ball_destroy(ball);
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app_firmware_world_destroy(firmware_world);
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}
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FirmwareWorld_t* firmware_world;
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Charger_t* charger;
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Chicker_t* chicker;
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Dribbler_t* dribbler;
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Wheel_t* front_right_wheel;
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Wheel_t* front_left_wheel;
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Wheel_t* back_right_wheel;
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Wheel_t* back_left_wheel;
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FirmwareRobot_t* robot;
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FirmwareBall_t* ball;
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};

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