#97 Added unit test framework and a few tests

.gitignore

@@ -13,3 +13,5 @@ version.c
 /cf2.*
 /cf1.*
 *.gch
+
+/generated-test/**

.gitmodules

@@ -1,3 +1,9 @@
 [submodule "vendor/libdw1000"]
 	path = vendor/libdw1000
 	url = https://github.com/bitcraze/libdw1000
+[submodule "vendor/unity"]
+	path = vendor/unity
+	url = https://github.com/throwtheswitch/unity.git
+[submodule "vendor/cmock"]
+	path = vendor/cmock
+	url = https://github.com/throwtheswitch/cmock.git

README.md

@@ -133,3 +133,27 @@ halt       : Halt the target using OpenOCD
 reset      : Reset the target using OpenOCD
 openocd    : Launch OpenOCD
 ```
+
+# Unit testing
+
+## Dependencies
+
+Frameworks for unit testing are pulled in as git submodules.
+
+The testing framework uses ruby and rake to generate and run code. 
+
+To minimize the need for installations and configuration, use the docker builder
+image (bitcraze/builder) that contains all tools needed. All scripts in the 
+tools/build directory are intended to be run in the image. The 
+[toolbelt](https://wiki.bitcraze.io/projects:dockerbuilderimage:index) makes it
+easy to run the tool scripts.
+
+### Running unit tests
+
+With the environment set up locally
+
+        rake
+
+with the docker builder image and the toolbelt
+
+        tb test

Rakefile

@@ -0,0 +1,34 @@
+# Rakefile used for running unit tests
+
+HERE = File.expand_path(File.dirname(__FILE__)) + '/'
+
+require 'rake'
+require 'rake/clean'
+require 'rake/testtask'
+require './tools/test/rakefile_helper'
+
+include RakefileHelpers
+
+# Load default configuration, for now
+DEFAULT_CONFIG_FILE = './tools/test/gcc.yml'
+configure_toolchain(DEFAULT_CONFIG_FILE)
+
+task :unit do
+  run_tests(get_unit_test_files)
+end
+
+desc "Generate test summary"
+task :summary do
+  report_summary
+end
+
+desc "Build and test Unity"
+task :all => [:clean, :unit, :summary]
+task :default => [:clobber, :all]
+task :ci => [:default]
+task :cruise => [:default]
+
+desc "Load configuration"
+task :config, :config_file do |t, args|
+  configure_toolchain(args[:config_file])
+end

test/utils/src/TestNum.c

@@ -0,0 +1,138 @@
+#include "unity.h"
+#include "num.h"
+
+
+void testThatLimitUint16NotLimitInRange() {
+  // Fixture
+  int32_t value = 4711;
+  uint16_t expected = 4711;
+
+  // Test
+  uint16_t actual = limitUint16(value);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT16(expected, actual);
+}
+
+
+void testThatLimitUint16LimitZero() {
+  // Fixture
+  int32_t value = -100;
+  uint16_t expected = 0;
+
+  // Test
+  uint16_t actual = limitUint16(value);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT16(expected, actual);
+}
+
+
+void testThatLimitUint16LimitMax() {
+  // Fixture
+  int32_t value = UINT16_MAX + 100;
+  uint16_t expected = UINT16_MAX;
+
+  // Test
+  uint16_t actual = limitUint16(value);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT16(expected, actual);
+}
+
+
+void testThatConstrainDoesNotLimitInRange() {
+  // Fixture
+  float value = 3.45;
+  float expected = value;
+
+  // Test
+  float actual = constrain(value, 0.0, 100.0);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatConstrainLimitsMin() {
+  // Fixture
+  float value = -10.0;
+  float min = 3.45;
+  float expected = min;
+
+  // Test
+  float actual = constrain(value, min, 100.0);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatConstrainLimitsMax() {
+  // Fixture
+  float value = 10.0;
+  float max = 3.45;
+  float expected = max;
+
+  // Test
+  float actual = constrain(value, -100.0, max);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatDeadbandInDeadbandPositive() {
+  // Fixture
+  float value = 0.5;
+  float threshold = 1.0;
+  float expected = 0.0;
+
+  // Test
+  float actual = deadband(value, threshold);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatDeadbandInDeadbandNegative() {
+  // Fixture
+  float value = -0.5;
+  float threshold = 1.0;
+  float expected = 0.0;
+
+  // Test
+  float actual = deadband(value, threshold);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatDeadbandOutsideDeadbandPositive() {
+  // Fixture
+  float value = 2.5;
+  float threshold = 1.0;
+  float expected = 1.5;
+
+  // Test
+  float actual = deadband(value, threshold);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatDeadbandOutsideDeadbandNegative() {
+  // Fixture
+  float value = -2.5;
+  float threshold = 1.0;
+  float expected = -1.5;
+
+  // Test
+  float actual = deadband(value, threshold);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}

tools/build/build

@@ -3,4 +3,5 @@ set -e
 
 scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 
-make --directory=${scriptDir}/../.. "${@}"
+${scriptDir}/test
+${scriptDir}/compile "${@}"

tools/build/compile

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+set -e
+
+scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+make --directory=${scriptDir}/../.. "${@}"

tools/build/test

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+set -e
+
+scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+rake -f ${scriptDir}/../../Rakefile

tools/test/gcc.yml

@@ -0,0 +1,66 @@
+---
+compiler:
+  path: gcc
+  source_path:     &source_path 'src/'
+  unit_tests_path: &unit_tests_path 'test/**/'
+  mocks_path:      &mocks_path 'generated-test/mocks/'
+  build_path:      &build_path 'generated-test/build/'
+  options:
+    - '-c'
+    - '-Wall'
+    - '-Wextra'
+    - '-Wunused-parameter'
+    - '-Wno-address'
+    - '-std=c11'
+    - '-pedantic'
+    - '-O0'
+  includes:
+    prefix: '-I'
+    items:
+      - *source_path
+      - *unit_tests_path
+      - *mocks_path
+      - 'vendor/unity/src/'
+      - 'vendor/cmock/src/'
+      - 'src/utils/interface/'
+      - 'src/utils/src/'
+  defines:
+    prefix: '-D'
+    items:
+      - CMOCK
+      - 'UNITY_SUPPORT_64'
+      - 'HSI48_VALUE="((uint32_t)48000000)"'
+      - 'STM32F072xB'
+  object_files:
+    prefix: '-o'
+    extension: '.o'
+    destination: *build_path
+
+linker:
+  path: gcc
+  options:
+    - -lm
+  includes:
+    prefix: '-I'
+  object_files:
+    path: *build_path
+    extension: '.o'
+  bin_files:
+    prefix: '-o'
+    extension: '.exe'
+    destination: *build_path
+
+unsupported:
+  - out_of_memory
+  - unity_64bit_support
+  - callingconv
+
+colour: true
+
+:cmock:
+  :plugins:
+    - :ignore_arg
+    - :array
+    - :callback
+  :mock_path: *mocks_path
+  :mock_prefix: mock_