Merge pull request #4 from uorocketry/clean-project

Testing Framework and Cleanup

Cargo.toml

@@ -68,4 +68,7 @@ version = "0.7.16"
 version = "0.5.0"
 
 [workspace.dependencies.messages]
-git = "https://github.com/uorocketry/messages"
+git = "https://github.com/uorocketry/messages"
+
+[workspace.dependencies.defmt-test]
+version = "0.3.2"

Makefile.toml

@@ -10,7 +10,7 @@ default_to_workspace = false
 
 [tasks.test-host]
 dependencies = [
-    "test-messages",
+    # "test-messages",
 ]
 
 # -----------------------
@@ -19,9 +19,24 @@ dependencies = [
 
 [tasks.test-device]
 dependencies = [
+    "test-temperature-board",
+    "test-pressure-board",
+    "test-strain-board",
     "test-common-arm",
 ]
 
 [tasks.test-common-arm]
 command = "cargo"
-args = ["test", "-p", "common-arm-test", "${@}"]
+args = ["test", "-p", "common-arm", "${@}"]
+
+[tasks.test-temperature-board]
+command = "cargo"
+args = ["test", "-p", "temperature", "${@}"]
+
+[tasks.test-pressure-board]
+command = "cargo"
+args = ["test", "-p", "pressure", "${@}"]
+
+[tasks.test-strain-board]
+command = "cargo"
+args = ["test", "-p", "strain", "${@}"]

README.md

@@ -15,3 +15,8 @@ uORocketry's rocket instrumentation system.
 
 ## Running code 
 `cargo run --bin {board}`
+
+## Tests 
+- To run device tests `cargo make test-device` 
+- - `cargo make test-temperature-board`
+- To run host tests `cargo make test-host` 

boards/pressure/Cargo.toml

@@ -21,4 +21,15 @@ rtic-sync = { workspace = true }
 defmt-rtt = { workspace = true }
 panic-probe = { workspace = true }
 chrono = { workspace = true }
-messages = {workspace = true}
+messages = {workspace = true}
+
+[dev-dependencies]
+defmt-test = { workspace = true }
+
+[[test]]
+name = "sd"
+harness = false
+
+[[bin]]
+name = "pressure"
+harness = false

boards/pressure/src/communication.rs

@@ -11,7 +11,6 @@ use messages::mavlink::uorocketry::MavMessage;
 use messages::mavlink::{self};
 use messages::Message;
 use postcard::from_bytes;
-use stm32h7xx_hal::prelude::*;
 
 /// Clock configuration is out of scope for this builder
 /// easiest way to avoid alloc is to use no generics
@@ -41,20 +40,17 @@ impl CanCommandManager {
             bit_rate_switching: false,
             marker: None,
         };
-        self.can.transmit(header, &payload)?;
+        self.can.transmit(header, payload)?;
         Ok(())
     }
     pub fn process_data(&mut self, data_manager: &mut DataManager) -> Result<(), HydraError> {
         let mut buf = [0u8; 64];
-        for message in self.can.receive0(&mut buf) {
-            match from_bytes::<Message>(&buf) {
-                Ok(data) => {
-                    info!("Received message {}", data.clone());
-                    data_manager.handle_command(data)?;
-                }
-                Err(e) => {
-                    info!("Error: {:?}", e)
-                }
+        while self.can.receive0(&mut buf).is_ok() {
+            if let Ok(data) = from_bytes::<Message>(&buf) {
+                info!("Received message {}", data.clone());
+                data_manager.handle_command(data)?;
+            } else {
+                info!("Error: {:?}", from_bytes::<Message>(&buf).unwrap_err());
             }
         }
         Ok(())
@@ -91,22 +87,18 @@ impl CanDataManager {
         };
         // self.can.abort(fdcan::Mailbox::_2); // this is needed if boards are not in sync (if they are not in sync that is a bigger problem)
 
-        stm32h7xx_hal::nb::block!(self.can.transmit(header, &payload))?;
+        stm32h7xx_hal::nb::block!(self.can.transmit(header, payload))?;
 
         Ok(())
     }
-    pub fn process_data(&mut self, data_manager: &mut DataManager) -> Result<(), HydraError> {
+    pub fn process_data(&mut self) -> Result<(), HydraError> {
         let mut buf = [0u8; 64];
-        for message in self.can.receive0(&mut buf) {
-            match from_bytes::<Message>(&buf) {
-                Ok(data) => {
-                    info!("Received message {}", data.clone());
-                    crate::app::send_gs::spawn(data).ok();
-                    // data_manager.handle_data(data);
-                }
-                Err(e) => {
-                    info!("Error: {:?}", e)
-                }
+        while self.can.receive0(&mut buf).is_ok() {
+            if let Ok(data) = from_bytes::<Message>(&buf) {
+                info!("Received message {}", data.clone());
+                crate::app::send_gs::spawn(data).ok();
+            } else if let Err(e) = from_bytes::<Message>(&buf) {
+                info!("Error: {:?}", e);
             }
         }
         self.can
@@ -182,20 +174,20 @@ impl RadioManager {
         // Do we need the header?
         match msg {
             mavlink::uorocketry::MavMessage::POSTCARD_MESSAGE(msg) => {
-                return Ok(postcard::from_bytes::<Message>(&msg.message)?);
+                Ok(postcard::from_bytes::<Message>(&msg.message)?)
                 // weird Ok syntax to coerce to hydra error type.
             }
             mavlink::uorocketry::MavMessage::COMMAND_MESSAGE(command) => {
                 info!("{}", command.command);
-                return Ok(postcard::from_bytes::<Message>(&command.command)?);
+                Ok(postcard::from_bytes::<Message>(&command.command)?)
             }
-            mavlink::uorocketry::MavMessage::HEARTBEAT(heartbeat) => {
+            mavlink::uorocketry::MavMessage::HEARTBEAT(_) => {
                 info!("Heartbeat");
-                return Err(mavlink::error::MessageReadError::Io.into());
+                Err(mavlink::error::MessageReadError::Io.into())
             }
             _ => {
                 error!("Error, ErrorContext::UnkownPostcardMessage");
-                return Err(mavlink::error::MessageReadError::Io.into());
+                Err(mavlink::error::MessageReadError::Io.into())
             }
         }
     }

boards/pressure/src/data_manager.rs

@@ -56,7 +56,7 @@ impl DataManager {
             return rate_cln;
         }
         self.logging_rate = Some(RadioRate::Slow);
-        return RadioRate::Slow;
+        RadioRate::Slow
     }
 
     /// Do not clone instead take to reduce CPU load.
@@ -85,7 +85,7 @@ impl DataManager {
     }
 
     pub fn clone_reset_reason(&self) -> Option<ResetReason> {
-        self.reset_reason.clone()
+        self.reset_reason
     }
 
     pub fn set_reset_reason(&mut self, reset: ResetReason) {