Unit test fixes to support CAN mapping fixes (#44)

* Fix unit tests

Update the test_vcu unit test to follow recent
evolution of CAN and libopencm3 interface changes.

Update the Makefile to reflect the current names of
the CTRL_xxx defines and add the new
GITHUB_RUN_NUMBER define.

Ensure that the GitHub Action builds and runs the unit
tests again.

Tests:
 - Build and run the updated unit tests

demuddle CI changes

* Move the unit test stub CanHardware into its own module

To allow more than one unit test that accesses the
CAN hardware move the stub implementation into its
own module.

Tests:
 - Run the updated unit tests

* Basic canmap test outline

* Unit test CanMap transmit mapping

For a wide variety of little/big-endian, offsets and
lengths verify that mapping these into a CAN frame
results in the expected contents.

Tests:
 - Verify many failures are reported, clearly when
    running the current libopeninv
 - Verify no failures with the fixes in libopeninv PR#18

* Unit test CanMap receive mapping

For a wide variety of little/big-endian, offsets and
lengths verify that mapping a parameter from  a CAN frame results in the expected contents.

Tests:
 - Verify many failures are reported, clearly when
    running the current libopeninv
 - Verify no failures with the fixes in libopeninv PR#18

* Ensure unit test failure line numbers are shown in decimal

When unit tests use std::hex to print failure
information the line numbers printed by the ASSERT()
macro are printed in hex as well. This is less than
helpful so ensure they are always printed in decimal.

* Unit test CAN map add validation

Validate all of the different ways it is possible to
incorrectly specify a can mapping through the "can tx"
or "can rx" command with a unit test.

Tests:
 - Verify many failures are reported, clearly when
    running the current libopeninv
 - Verify no failures with the fixes in libopeninv PR#18

.github/workflows/CI-build.yml

@@ -51,13 +51,11 @@ jobs:
         with:
           name: FOC firmware hex
           path: stm32_foc.hex
-
-# Unit tests are currently broken so don't build and run them for now
-#- name: Build unit tests on host
-#        run: |
-#          make -C test
-#
-#      - name: Run unit tests on host
-#        run: |
-#          test/test_sine
 
+      - name: Build unit tests on host
+        run: |
+          make -C test
+
+      - name: Run unit tests on host
+        run: |
+          test/test_sine

test/Makefile

@@ -3,13 +3,20 @@ CPP	= g++
 LD		= g++
 CP		= cp
 CFLAGS    = -std=c99 -ggdb -DSTM32F1 -I../include -I../libopeninv/include -I../libopencm3/include
-CPPFLAGS    = -ggdb -DSTM32F1 -DCONTROL_FOC=1 -DCONTROL_SINE=0 -DCONTROL=DCONTROL_FOC -I../include -I../libopeninv/include -I../libopencm3/include
+CPPFLAGS    = -ggdb -DSTM32F1 -DCTRL_FOC=1 -DCTRL_SINE=0 -DCTRL=CTRL_FOC -I../include -I../libopeninv/include -I../libopencm3/include
 LDFLAGS     = -g
 BINARY		= test_sine
 OBJS		= test_main.o fu.o test_fu.o test_fp.o test_vcu.o my_fp.o my_string.o params.o vehiclecontrol.o \
-			  test_throttle.o throttle.o sine_core.o temp_meas.o
+			  test_throttle.o throttle.o sine_core.o temp_meas.o stub_canhardware.o test_canmap.o canmap.o \
+			  stub_libopencm3.o
 VPATH = ../src ../libopeninv/src
 
+# Check if the variable GITHUB_RUN_NUMBER exists. When running on the github actions running, this
+# variable is automatically available.
+# Create a compiler define with the content of the variable. Or, if it does not exist, use replacement value 99999.
+CPPFLAGS += $(shell \
+    if [ -z "$$GITHUB_RUN_NUMBER" ]; then echo "-DGITHUB_RUN_NUMBER=0"; else echo "-DGITHUB_RUN_NUMBER=$$GITHUB_RUN_NUMBER"; fi )
+
 all: $(BINARY)
 
 $(BINARY): $(OBJS)

test/stub_canhardware.cpp

@@ -0,0 +1,45 @@
+/*
+ * This file is part of the stm32-sine project.
+ *
+ * Copyright (C) 2021 Johannes Huebner <[email protected]>
+ * Copyright (C) 2024 David J. Fiddes <[email protected]>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include "stub_canhardware.h"
+
+CanCallback* vcuCan = nullptr;
+uint32_t vcuCanId;
+
+CanHardware::CanHardware()
+{}
+
+bool CanHardware::AddCallback(CanCallback* cb)
+{
+   vcuCan = cb;
+   return true;
+}
+
+bool CanHardware::RegisterUserMessage(uint32_t canId, uint32_t mask)
+{
+   vcuCanId = canId;
+   return true;
+}
+
+void CanHardware::ClearUserMessages() {}
+
+void CanHardware::HandleRx(uint32_t canId, uint32_t data[2], uint8_t dlc)
+{
+   vcuCan->HandleRx(canId, data, dlc);
+}

test/stub_canhardware.h

@@ -0,0 +1,48 @@
+/*
+ * This file is part of the stm32-sine project.
+ *
+ * Copyright (C) 2021 Johannes Huebner <[email protected]>
+ * Copyright (C) 2024 David J. Fiddes <[email protected]>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#ifndef TEST_CANHARDWARE_H
+#define TEST_CANHARDWARE_H
+
+#include "canhardware.h"
+#include <stdint.h>
+#include <string.h>
+#include <array>
+
+class CanStub: public CanHardware
+{
+   void SetBaudrate(enum baudrates baudrate) {}
+   void Send(uint32_t canId, uint32_t data[2], uint8_t len)
+   {
+      m_canId = canId;
+      memcpy(&m_data[0], &data[0], sizeof(m_data));
+      m_len = len;
+   }
+   virtual void ConfigureFilters() {}
+
+public:
+   std::array<uint8_t, 8>  m_data;
+   uint8_t                 m_len;
+   uint32_t                m_canId;
+};
+
+extern CanCallback* vcuCan;
+extern uint32_t vcuCanId;
+
+#endif // TEST_CANHARDWARE_H

test/stub_libopencm3.c

@@ -0,0 +1,49 @@
+/*
+ * This file is part of the stm32-sine project.
+ *
+ * Copyright (C) 2024 David J. Fiddes <[email protected]>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include "stdint.h"
+
+void flash_unlock(void)
+{
+}
+
+void flash_lock(void)
+{
+}
+
+void flash_set_ws(uint32_t ws)
+{
+}
+
+void flash_program_word(uint32_t address, uint32_t data)
+{
+}
+
+void flash_erase_page(uint32_t page_address)
+{
+}
+
+uint16_t desig_get_flash_size(void)
+{
+    return 8;
+}
+
+uint32_t crc_calculate(uint32_t data)
+{
+    return 0xaa55;
+}

test/test.h

@@ -29,7 +29,7 @@ extern int _failedAssertions;
       std::cout << "Test " << __FILE__ << "::" << __func__ << " passed." << std::endl; \
    else \
    {  \
-      std::cout << "Assertion failed: " << STRING(c) << " in " __FILE__ " : " << __LINE__ << std::endl;    \
+      std::cout << "Assertion failed: " << STRING(c) << " in " __FILE__ " : " << std::dec << __LINE__ << std::endl;    \
       _failedAssertions++; \
    }