pbio/test: Update for Bluetooth and tasks.

Author: laurensvalk

lib/pbio/test/drv/test_bluetooth.c renamed to lib/pbio/test/drv/test_bluetooth_btstack.c

@@ -15,7 +15,6 @@
 
 #include <test-pbio.h>
 
-#include "../../drv/bluetooth/bluetooth_btstack_run_loop_contiki.h"
 #include "../../drv/bluetooth/bluetooth_btstack.h"
 #include "../../drv/clock/clock_test.h"
 
@@ -790,7 +789,7 @@ static PT_THREAD(test_btstack_run_loop_contiki_poll(struct pt *pt)) {
     PT_END(pt);
 }
 
-struct testcase_t pbdrv_bluetooth_tests[] = {
+struct testcase_t pbdrv_bluetooth_btstack_tests[] = {
     PBIO_PT_THREAD_TEST(test_btstack_run_loop_contiki_timer),
     PBIO_PT_THREAD_TEST(test_btstack_run_loop_contiki_poll),
     END_OF_TESTCASES

lib/pbio/test/src/test_task.c

@@ -5,90 +5,74 @@
 #include <stdio.h>
 
 #include <btstack.h>
-#include <contiki.h>
+
 #include <tinytest_macros.h>
 #include <tinytest.h>
 
 #include <pbdrv/bluetooth.h>
 
+#include <pbio/os.h>
 #include <pbio/util.h>
 #include <pbsys/host.h>
 #include <pbsys/main.h>
 #include <pbsys/status.h>
 #include <test-pbio.h>
 
-#include "../drv/clock/clock_test.h"
+static pbio_error_t test_bluetooth(pbio_os_state_t *state, void *context) {
+
+    static pbio_os_state_t sub;
 
-static PT_THREAD(test_bluetooth(struct pt *pt)) {
-    PT_BEGIN(pt);
+    PBIO_OS_ASYNC_BEGIN(state);
 
     pbsys_host_init();
 
     // power should be initialized to off
     tt_want_uint_op(pbio_test_bluetooth_get_control_state(), ==, PBIO_TEST_BLUETOOTH_STATE_OFF);
 
-    pbdrv_bluetooth_power_on(true);
+    PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_power_on(&sub, false));
+    PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_power_on(&sub, true));
 
-    // wait for the power on delay
-    PT_WAIT_UNTIL(pt, ({
-        pbio_test_clock_tick(1);
-        pbio_test_bluetooth_get_control_state() == PBIO_TEST_BLUETOOTH_STATE_ON;
-    }));
+    tt_want_uint_op(pbio_test_bluetooth_get_control_state(), ==, PBIO_TEST_BLUETOOTH_STATE_ON);
 
-    pbdrv_bluetooth_start_advertising();
+    pbdrv_bluetooth_start_advertising(true);
+    PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_await_advertise_or_scan_command(&sub, NULL));
 
-    PT_WAIT_UNTIL(pt, ({
-        pbio_test_clock_tick(1);
-        pbio_test_bluetooth_is_advertising_enabled();
-    }));
+    tt_want(pbio_test_bluetooth_is_advertising_enabled());
 
     pbio_test_bluetooth_connect();
 
-    PT_WAIT_UNTIL(pt, ({
-        pbio_test_clock_tick(1);
-        pbio_test_bluetooth_is_connected();
-    }));
+    PBIO_OS_AWAIT_UNTIL(state, pbio_test_bluetooth_is_connected());
 
     // TODO: enable pybricks service notifications and do concurrent pybricks service and uart service calls
 
     pbio_test_bluetooth_enable_pybricks_service_notifications();
 
     static const char *test_data_1 = "test\n";
     static const char *test_data_2 = "test2\n";
-    uint32_t size;
+    static uint32_t size;
 
-    PT_WAIT_UNTIL(pt, ({
-        pbio_test_clock_tick(1);
+    PBIO_OS_AWAIT_UNTIL(state, ({
         size = strlen(test_data_1);
         pbdrv_bluetooth_tx((const uint8_t *)test_data_1, &size) == PBIO_SUCCESS;
     }));
 
     tt_want_uint_op(size, ==, strlen(test_data_1));
 
-    // yielding here should allow the pbsys bluetooth process to run and queue
-    // the data in the uart buffer
-    PT_YIELD(pt);
-
-    // this next data should get pushed in the UART buffer but wait until the
-    // previous request is finished before sending
-    PT_WAIT_UNTIL(pt, ({
-        pbio_test_clock_tick(1);
+    // this next data should get pushed in the buffer too
+    PBIO_OS_AWAIT_UNTIL(state, ({
         size = strlen(test_data_2);
         pbdrv_bluetooth_tx((const uint8_t *)test_data_2, &size) == PBIO_SUCCESS;
     }));
 
     tt_want_uint_op(size, ==, strlen(test_data_2));
 
-    PT_YIELD(pt);
-
     static const char *test_data_3 = "\x06test3\n";
     size = strlen(test_data_3);
     pbio_test_bluetooth_send_pybricks_command((const uint8_t *)test_data_3, size);
 
     static uint8_t rx_data[20];
 
-    PT_WAIT_UNTIL(pt, ({
-        pbio_test_clock_tick(1);
+    PBIO_OS_AWAIT_UNTIL(state, ({
         size = PBIO_ARRAY_SIZE(rx_data);
         pbsys_host_stdin_read(rx_data, &size) == PBIO_SUCCESS;
     }));
@@ -104,15 +88,14 @@ static PT_THREAD(test_bluetooth(struct pt *pt)) {
     static uint32_t count;
     count = pbio_test_bluetooth_get_pybricks_service_notification_count();
 
-    PT_WAIT_UNTIL(pt, ({
-        pbio_test_clock_tick(1);
+    PBIO_OS_AWAIT_UNTIL(state, ({
         pbio_test_bluetooth_get_pybricks_service_notification_count() != count;
     }));
 
-    PT_END(pt);
+    PBIO_OS_ASYNC_END(PBIO_SUCCESS);
 }
 
 struct testcase_t pbdrv_bluetooth_tests[] = {
-    PBIO_PT_THREAD_TEST(test_bluetooth),
+    PBIO_PT_THREAD_TEST_WITH_PBIO_OS(test_bluetooth),
     END_OF_TESTCASES
 };

lib/pbio/test/sys/test_bluetooth.c

@@ -12,6 +12,7 @@
 #include <tinytest_macros.h>
 
 #include "../drv/motor_driver/motor_driver_virtual_simulation.h"
+#include "../drv/clock/clock_test.h"
 
 #include <pbdrv/core.h>
 
@@ -120,7 +121,8 @@ void pbio_test_run_thread_with_pbio_os_processes(void *env) {
     clock_gettime(CLOCK_MONOTONIC, &start_time);
 
     while ((test_thread(&state, NULL)) == PBIO_ERROR_AGAIN) {
-        pbio_os_run_processes_once();
+        pbio_os_run_processes_and_wait_for_event();
+        pbio_test_clock_tick(1);
         if (timeout > 0) {
             clock_gettime(CLOCK_MONOTONIC, &now_time);
             if (difftime(now_time.tv_sec, start_time.tv_sec) > timeout) {
@@ -147,7 +149,7 @@ struct testcase_setup_t pbio_test_setup = {
     .cleanup_fn = cleanup,
 };
 
-extern struct testcase_t pbdrv_bluetooth_tests[];
+extern struct testcase_t pbdrv_bluetooth_btstack_tests[];
 extern struct testcase_t pbdrv_pwm_tests[];
 extern struct testcase_t pbio_angle_tests[];
 extern struct testcase_t pbio_battery_tests[];
@@ -160,13 +162,12 @@ extern struct testcase_t pbio_light_matrix_tests[];
 extern struct testcase_t pbio_int_math_tests[];
 extern struct testcase_t pbio_port_lump_tests[];
 extern struct testcase_t pbio_servo_tests[];
-extern struct testcase_t pbio_task_tests[];
 extern struct testcase_t pbio_trajectory_tests[];
 extern struct testcase_t pbio_util_tests[];
 extern struct testcase_t pbdrv_bluetooth_tests[];
 extern struct testcase_t pbsys_status_tests[];
 static struct testgroup_t test_groups[] = {
-    { "drv/bluetooth/", pbdrv_bluetooth_tests },
+    { "drv/bluetooth/", pbdrv_bluetooth_btstack_tests },
     { "drv/pwm/", pbdrv_pwm_tests },
     { "src/angle/", pbio_angle_tests },
     { "src/battery/", pbio_battery_tests },
@@ -179,7 +180,6 @@ static struct testgroup_t test_groups[] = {
     { "src/math/", pbio_int_math_tests },
     { "src/port_lump/", pbio_port_lump_tests },
     { "src/servo/", pbio_servo_tests },
-    { "src/task/", pbio_task_tests, },
     { "src/trajectory/", pbio_trajectory_tests },
     { "src/util/", pbio_util_tests, },
     { "sys/bluetooth/", pbdrv_bluetooth_tests, },