(#679) moved timer functions to lighthouse.c for unit tests

bitcraze · Feb 9, 2021 · f49cd47 · f49cd47
1 parent ea72bd8
commit f49cd47
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Showing 4 changed files with 56 additions and 42 deletions.
diff --git a/src/deck/drivers/src/lighthouse.c b/src/deck/drivers/src/lighthouse.c
@@ -33,15 +33,20 @@
 #include "deck.h"
 #include "param.h"
 
+#include "stm32fxxx.h"
 #include "config.h"
 #include "FreeRTOS.h"
 #include "task.h"
+#include "timers.h"
 
 #include "lighthouse_core.h"
 
+// LED timer
+static StaticTimer_t timerBuffer;
+#define FIFTH_SECOND 200
+static void ledTimerHandle(xTimerHandle timer);
 
 static bool isInit = false;
-
 // lighthouseBaseStationsGeometry has been moved to lighthouse_core.c
 
 static void lighthouseInit(DeckInfo *info)
@@ -54,10 +59,18 @@ static void lighthouseInit(DeckInfo *info)
 
   xTaskCreate(lighthouseCoreTask, LIGHTHOUSE_TASK_NAME,
               2*configMINIMAL_STACK_SIZE, NULL, LIGHTHOUSE_TASK_PRI, NULL);
+
+  xTimerHandle timer;
+  timer = xTimerCreateStatic("ledTimer", M2T(FIFTH_SECOND), pdTRUE,
+    NULL, ledTimerHandle, &timerBuffer);
+  xTimerStart(timer, M2T(0));
 
   isInit = true;
 }
 
+static void ledTimerHandle(xTimerHandle timer) {
+  ledTimer();
+}
 
 static const DeckDriver lighthouse_deck = {
   .vid = 0xBC,

diff --git a/src/modules/interface/lighthouse/lighthouse_core.h b/src/modules/interface/lighthouse/lighthouse_core.h
@@ -79,3 +79,5 @@ typedef enum {
  * @param green State of the green LED
  */
 void lighthouseCoreSetLeds(lighthouseCoreLedState_t red, lighthouseCoreLedState_t orange, lighthouseCoreLedState_t green);
+
+void ledTimer();
diff --git a/src/modules/src/lighthouse/lighthouse_core.c b/src/modules/src/lighthouse/lighthouse_core.c
@@ -28,7 +28,6 @@
 #include "stm32fxxx.h"
 #include "FreeRTOS.h"
 #include "task.h"
-#include "timers.h"
 
 #include <math.h>
 #include <stdbool.h>
@@ -92,6 +91,7 @@ static uint16_t baseStationActiveMap;
 // An overall system status indicating if data is sent to the estimator
 static lhSystemStatus_t systemStatus;
 static lhSystemStatus_t systemStatusWs;
+static lhSystemStatus_t ledInternalStatus = statusToEstimator;
 
 static const uint32_t SYSTEM_STATUS_UPDATE_INTERVAL = FIFTH_SECOND;
 static uint32_t nextUpdateTimeOfSystemStatus = 0;
@@ -150,46 +150,43 @@ static baseStationGeometry_t geoBuffer;
 TESTABLE_STATIC void initializeGeoDataFromStorage();
 static lighthouseCalibration_t calibBuffer;
 TESTABLE_STATIC void initializeCalibDataFromStorage();
+static bool deckIsFlashed = false;
 
-// LED timer
-static xTimerHandle timer;
-static StaticTimer_t timerBuffer;
-static lhSystemStatus_t ledInternalStatus = statusToEstimator;
-
-static void ledTimer(xTimerHandle timer)
-{
-  switch (systemStatus)
-  {
-    case statusNotReceiving:
-      if(ledInternalStatus != systemStatus)
-      {
-        lighthouseCoreSetLeds(lh_led_off, lh_led_on, lh_led_off);
-        ledInternalStatus = systemStatus;
-      }
-      break;
-    case statusMissingData: 
-      if(ledInternalStatus != systemStatus)
-      {
-        lighthouseCoreSetLeds(lh_led_off, lh_led_slow_blink, lh_led_off);
-        ledInternalStatus = systemStatus;
-      }
-      break;
-    case statusToEstimator:
-      if(ledInternalStatus != systemStatus)
-      {
-        lighthouseCoreSetLeds(lh_led_off, lh_led_off, lh_led_on);
-        ledInternalStatus = systemStatus;
-      }
-      break;
-    default:
-      ASSERT(false);
-  } 
-}
 
 void lighthouseCoreInit() {
   lighthousePositionEstInit();
-  timer = xTimerCreateStatic("ledTimer", M2T(FIFTH_SECOND), pdTRUE,
-    NULL, ledTimer, &timerBuffer);
+}
+
+void ledTimer()
+{
+  if (deckIsFlashed){
+    switch (systemStatus)
+    {
+      case statusNotReceiving:
+        if(ledInternalStatus != systemStatus)
+        {
+          lighthouseCoreSetLeds(lh_led_off, lh_led_on, lh_led_off);
+          ledInternalStatus = systemStatus;
+        }
+        break;
+      case statusMissingData: 
+        if(ledInternalStatus != systemStatus)
+        {
+          lighthouseCoreSetLeds(lh_led_off, lh_led_slow_blink, lh_led_off);
+          ledInternalStatus = systemStatus;
+        }
+        break;
+      case statusToEstimator:
+        if(ledInternalStatus != systemStatus)
+        {
+          lighthouseCoreSetLeds(lh_led_off, lh_led_off, lh_led_on);
+          ledInternalStatus = systemStatus;
+        }
+        break;
+      default:
+        ASSERT(false);
+    } 
+  }
 }
 
 TESTABLE_STATIC bool getUartFrameRaw(lighthouseUartFrame_t *frame) {
@@ -449,10 +446,10 @@ void lighthouseCoreTask(void *param) {
   initializeCalibDataFromStorage();
 
   lighthouseDeckFlasherCheckVersionAndBoot();
+  deckIsFlashed = true;
 
-  vTaskDelay(M2T(100));
 
-  xTimerStart(timer, M2T(0));
+  vTaskDelay(M2T(100));
 
   memset(&bsIdentificationData, 0, sizeof(bsIdentificationData));
 

diff --git a/test/modules/src/lighthouse/test_lighthouse_core.c b/test/modules/src/lighthouse/test_lighthouse_core.c
@@ -35,7 +35,7 @@ initializeCalibDataFromStorage();
 // Dummy mocks timer
 uint32_t xTaskGetTickCount() {return 0;}
 void vTaskDelay(const uint32_t ignore) {}
-struct tmrTimerControl; 
+/*struct tmrTimerControl; 
 typedef struct tmrTimerControl * TimerHandle_t;
 int timerBuffer;
 int timer;
@@ -50,7 +50,9 @@ short xTimerGenericCommand( TimerHandle_t xTimer,
                                   const short xCommandID,
                                   const uint32_t xOptionalValue,
                                   short * const pxHigherPriorityTaskWoken,
-                                  const uint32_t xTicksToWait ) {return 0;}
+                                  const uint32_t xTicksToWait ) {return 0;}*/
+void initLedTimer() {}
+void startLedTimer() {}
 
 
 static int nrOfCallsToStorageFetchForCalib = 0;