Issue 9: Introduce unit tests

Author: AksonovSergei

CMakeLists.txt

@@ -1,9 +1,14 @@
 cmake_minimum_required(VERSION 3.10)
-project(ecu_sw_bb)
+project(kpi_rover_ecu)
 
-# Add librobotcontrol subdirectory
-option(BUILD_LIBROBOT_CONTROL "Build librobotcontrol using original Makefile" ON)
-add_subdirectory(external/librobotcontrol/library)
+if(BUILD_VARIANT STREQUAL "Target")
+    option(BUILD_LIBROBOT_CONTROL "Build librobotcontrol using original Makefile" ON)
+    add_subdirectory(external/librobotcontrol)
+    add_subdirectory(src/kpi_rover_ecu)
+endif()
 
-# Create interface library for librobotcontrol (not needed anymore, using target directly)
-add_subdirectory(src/kpi_rover_ecu)
+if(BUILD_VARIANT STREQUAL "Tests")
+    enable_testing()
+    add_subdirectory(src/kpi_rover_ecu/src)
+    add_subdirectory(src/kpi_rover_ecu/tests)
+endif()

build.sh

@@ -1,17 +1,25 @@
 #!/bin/bash
 
+
+
+BUILD_VARIANT="Target"
+
+TARGET_OPTIONS="-DBUILD_VARIANT=${BUILD_VARIANT}"
+
 # Ensure build directory exists
-mkdir -p build/target
+mkdir -p build/${BUILD_VARIANT}
 
 # Check if the "nocache" argument is passed
 if [[ "$1" == "nocache" ]]; then
     echo "-- Clearing CMake cache..."
-    rm -rf build/target/*
+    rm -rf build/${BUILD_VARIANT}/*
 fi
 
+
 # Run the Docker container with CMake commands
 docker run -it --rm \
     -u $(id -u ${USER}):$(id -g ${USER}) \
     -v $(pwd):/workspace \
     kpi-rover-bbb-build \
-    bash -c "cmake -B build/target -H. && cmake --build build/target -- -j$(nproc)"
+    bash -c "cmake -B build/${BUILD_VARIANT} -H. -H. ${TARGET_OPTIONS} \
+        && cmake --build build/${BUILD_VARIANT} -- -j$(nproc)"

check_cs.sh

@@ -5,8 +5,8 @@ docker run -it --rm \
     -v $(pwd):/workspace \
     kpi-rover-bbb-check \
     bash -c "
-        cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -B build/check && ls build/check/compile_commands.json && \
-        find src/kpi_rover_ecu/ -name '*.cpp' -o -name '*.h' | xargs --no-run-if-empty clang-format --dry-run --Werror; \
-        find src/kpi_rover_ecu/ -name '*.cpp' -o -name '*.h' | xargs --no-run-if-empty clang-tidy -p=build/check --warnings-as-errors='*'
+        cmake -DBUILD_VARIANT=Target -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -B build/check && ls build/check/compile_commands.json && \
+        find src/kpi_rover_ecu/src src/kpi_rover_ecu/include -name '*.cpp' -o -name '*.h' | xargs --no-run-if-empty clang-format --dry-run --Werror; \
+        find src/kpi_rover_ecu/src src/kpi_rover_ecu/include -name '*.cpp' -o -name '*.h' | xargs --no-run-if-empty clang-tidy -p=build/check --warnings-as-errors='*'
     "
 

deploy.sh

@@ -8,7 +8,7 @@ if [ -z "$BBB_HOST" ]; then
 fi
 
 # Deploy the software using scp
-scp build/target/src/kpi_rover_ecu/kpi_rover_ecu "$BBB_HOST":~
+scp build/Target/src/kpi_rover_ecu/kpi_rover_ecu "$BBB_HOST":~
 
 # Check if scp was successful
 if [ $? -eq 0 ]; then

docker/Dockerfile.check

@@ -14,12 +14,14 @@ RUN apt-get update -q && \
     python3 \
     python3-pip \
     cmake \
+    lcov \
+    gcc \
+    g++ \
+    build-essential \
+    make \
+    git \
     && rm -rf /var/lib/apt/lists/*
 
-# RUN ln -s /usr/bin/arm-linux-gnueabihf-g++-8 /usr/bin/arm-linux-gnueabihf-g++ && \
-#     ln -s /usr/bin/arm-linux-gnueabihf-gcc-8 /usr/bin/arm-linux-gnueabihf-gcc && \
-#     ln -s /usr/bin/arm-linux-gnueabihf-cpp-8 /usr/bin/arm-linux-gnueabihf-cpp
-    
 ENV AS=/usr/bin/arm-linux-gnueabihf-as \
     AR=/usr/bin/arm-linux-gnueabihf-ar \
     CC=/usr/bin/arm-linux-gnueabihf-gcc \
@@ -29,9 +31,4 @@ ENV AS=/usr/bin/arm-linux-gnueabihf-as \
 
 RUN echo "alias ll='ls -alF --color=auto'" >> /etc/bash.bashrc
 
-RUN apt-get update -q && \
-    apt-get install -y -q \
-    git \
-    && rm -rf /var/lib/apt/lists/*
-
 WORKDIR /workspace

src/kpi_rover_ecu/CMakeLists.txt

@@ -2,45 +2,26 @@ cmake_minimum_required(VERSION 3.10)
 project(kpi_rover_ecu)
 
 set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_package(Threads REQUIRED)
 
-# Update include path to be relative to this CMakeLists.txt location
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
-	
-set(SOURCE_FILES
-    src/main.cpp
-    src/motorsController.cpp
-    src/motor.cpp
-    src/protocolHandler.cpp
-    src/TCPTransport.cpp
-    src/motorConfig.cpp
-    src/messageQueue.cpp
-    src/KPIRoverECU.cpp
+# Add include directories globally so all targets can find the headers
+include_directories(
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
 )
 
-set(HEADER_FILES
-    include/motorsController.h
-    include/motor.h
-    include/protocolHandler.h
-    include/TCPTransport.h 
-    include/ITransport.h
-    include/motorConfig.h
-    include/messageQueue.h	
-    include/KPIRoverECU.h
-)
+add_subdirectory(src)
 
-add_executable(${PROJECT_NAME} ${SOURCE_FILES} ${HEADER_FILES})
+add_executable(${PROJECT_NAME} src/main.cpp)
 
-# Add include directories to target properties
-target_include_directories(${PROJECT_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}/include
-)
-
-# Link the pthread library and robotcontrol
-target_link_libraries(${PROJECT_NAME} PRIVATE 
+target_link_libraries(${PROJECT_NAME} PRIVATE
+    kpi_rover_ecu_core
     Threads::Threads
     robotcontrol
 )
 
+target_include_directories(${PROJECT_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+)

src/kpi_rover_ecu/include/motor.h

@@ -1,7 +1,7 @@
 #ifndef MOTOR_H
 #define MOTOR_H
 
-#include <robotcontrol.h>
+
 #include <iostream>
 
 #define MIN_RPM 8000

src/kpi_rover_ecu/src/CMakeLists.txt

@@ -0,0 +1,15 @@
+add_library(kpi_rover_ecu_core STATIC
+    KPIRoverECU.cpp
+    motor.cpp
+    motorsController.cpp
+    protocolHandler.cpp
+    TCPTransport.cpp
+    motorConfig.cpp
+    messageQueue.cpp
+)
+
+# Include public headers
+target_include_directories(kpi_rover_ecu_core PUBLIC
+    ${CMAKE_SOURCE_DIR}/src/kpi_rover_ecu/include
+    ${CMAKE_SOURCE_DIR}/external/librobotcontrol/library/include
+)

src/kpi_rover_ecu/src/KPIRoverECU.cpp

@@ -1,4 +1,5 @@
 #include "KPIRoverECU.h"
+#include <rc/time.h>
 
 // #include "TCPTransport.h"
 // #include "config.h"

src/kpi_rover_ecu/src/motor.cpp

@@ -1,9 +1,21 @@
 #include "motor.h"
+#include <rc/motor.h>
+#include <rc/encoder.h>
+#include <rc/time.h>
 
 Motor::Motor(int assignedNumber, bool isInverted) : motorNumber_(assignedNumber), inverted_(isInverted), currentDutyCycle_(0) {}
 
-
 int Motor::MotorGo(int newRPM) {
+    if (newRPM > MAX_RPM ) {
+        std::cout << "[Warning] RPM out of range" << '\n';
+        newRPM = MAX_RPM;
+    }
+
+    if (newRPM < MIN_RPM) {
+        std::cout << "[Warning] RPM out of range" << '\n';
+        newRPM = MIN_RPM;
+    }
+
     currentDutyCycle_ = GetDC(newRPM);
     if (inverted_) {
         currentDutyCycle_ = -currentDutyCycle_;
@@ -23,13 +35,6 @@ int Motor::MotorStop() const  {
         return -1;
     }
 
-    rc_usleep(BRAKE_TIME);
-
-    if (rc_motor_free_spin(motorNumber_) != 0) {
-        std::cout << "[ERROR][RC] rc_motor_free_spin" << '\n';
-        return -1;
-    }
-
     return 0;
 }