Fix #45

.github/workflows/low_level_tests.yml

@@ -14,8 +14,9 @@ jobs:
                     { cc: clang-12, cxx: clang++-12 },
                     { cc: clang-13, cxx: clang++-13 },
                     { cc: clang-14, cxx: clang++-14 },
-                    #{ cc: clang-15, cxx: clang++-15 },
-                    { cc: clang-16, cxx: clang++-16 } ]
+                    { cc: clang-15, cxx: clang++-15 },
+                   # { cc: clang-16, cxx: clang++-16 },
+                    { cc: clang-17, cxx: clang++-17 } ]
         build: [ Release, Debug ]
     env:
       CC: ${{ matrix.compiler.cc }}
@@ -31,7 +32,11 @@ jobs:
           sudo add-apt-repository "deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy main"
           sudo add-apt-repository "deb-src http://apt.llvm.org/jammy/ llvm-toolchain-jammy main"
           sudo apt-get update
-          sudo apt-get install -y wget g++-9 g++-10 g++-11 protobuf-compiler valgrind python3-protobuf clang-*
+          sudo apt-get install -y wget g++-9 g++-10 g++-11 protobuf-compiler valgrind python3-protobuf clang-* scons
+      - name: Run NanoPB Tests
+        run: |
+          cd Src/Messages/External/nanopb/tests/
+          scons
       - name: Set up Build
         run: cmake -B build -DCMAKE_BUILD_TYPE=${{ matrix.build }}
       - name: Build and run tests
@@ -43,7 +48,7 @@ jobs:
       - uses: actions/upload-artifact@v3
         with:
           name: ${{ matrix.compiler.cc }}
-          path: build/Tests/LowLevel
+          path: .
 
   Report:
     runs-on: ubuntu-latest
@@ -78,20 +83,20 @@ jobs:
     needs: Run-Tests
     if: ${{ always() }}
     steps:
-      - uses: actions/checkout@v2
-        with:
-          submodules: recursive
       - uses: actions/download-artifact@v3
         with:
           name: gcc-11
+      - run: tree
       - name: Install dependencies
         run: |
           sudo apt-get update
           sudo apt-get install -y lcov
       - name: Set up Build
         run: cmake -B build
       - name: Run LCOV
-        run: lcov --no-external --capture --directory . --output-file coverage.info
+        run: |
+          lcov --no-external --capture --directory build -o local.info
+          lcov -a local.info -o coverage.info
       - name: Gen HTML
         run: genhtml coverage.info --output-directory coverage
       - name: Move HTML

.gitmodules

@@ -4,6 +4,3 @@
 [submodule "Messages"]
 	path = Src/Messages
 	url = https://github.com/ToolboxPlane/Messages.git
-[submodule "Tests/LowLevel/Mock"]
-	path = Tests/LowLevel/Mock
-	url = https://github.com/ToolboxPlane/MockTools.git

CMakeLists.txt

@@ -20,5 +20,5 @@ else ()
     message(STATUS "Not building for AVR")
 endif ()
 
-add_subdirectory(Tests)
 add_subdirectory(Src)
+add_subdirectory(Tests)

Src/Drivers/protobuf.c

@@ -28,7 +28,7 @@ static void uart_callback(uint8_t data) {
 }
 
 void protobuf_init(void) {
-    message_decoding_init(&message_decoding_data, FC_SP_ID);
+    message_decoding_init(&message_decoding_data, FC_SP_ID, ToolboxPlaneMessages_FlightControllerSetpoint_fields);
     ring_buffer_data = ring_buffer_init();
     uart_init(UART_ID, UART_BAUD, NONE, 1, uart_callback);
 }
@@ -43,8 +43,7 @@ bool protobuf_available(void) {
     bool res = false;
     uint8_t data = 0;
     while (ring_buffer_get(&ring_buffer_data, &data)) {
-        if (message_decoding_decode(&message_decoding_data, data, &ToolboxPlaneMessages_FlightControllerSetpoint_msg,
-                                    &setpoint_message)) {
+        if (message_decoding_decode(&message_decoding_data, data, &setpoint_message)) {
             res = true;
         }
     }

Src/main.c

@@ -2,7 +2,7 @@
  * @file main.c
  * @author Paul Nykiel
  * @date 12.04.19
- * @brief Main file of the Flightcontroller firmware.
+ * @brief Main file of the Flight-Controller firmware.
  */
 #include "Application/application.h"
 

Tests/LowLevel/CMakeLists.txt

@@ -1,4 +1,3 @@
-add_subdirectory(Mock)
 function(make_fc_test)
     cmake_parse_arguments(MAKE_FC_TEST
             "" # Options
@@ -9,7 +8,7 @@ function(make_fc_test)
     set(headers)
     foreach (module ${MAKE_FC_TEST_DEPS})
         set(LOCAL_HEADER ${CMAKE_SOURCE_DIR}/Src/${module}.h)
-        set(SYSTEM_HEADER ${CMAKE_CURRENT_SOURCE_DIR}/Mock/System/${module}.h)
+        set(SYSTEM_HEADER ${MockLib_SOURCE_DIR}/../System/${module}.h)
         if (EXISTS ${LOCAL_HEADER})
             list(APPEND headers ${LOCAL_HEADER})
         elseif (EXISTS ${SYSTEM_HEADER})
@@ -48,9 +47,6 @@ make_fc_test(MODULE Drivers/ppm DEPS HAL/pwm16bit avr/io)
 make_fc_test(MODULE Drivers/protobuf DEPS HAL/uart Messages/MessageDecoding Messages/MessageEncoding Drivers/ring_buffer)
 make_fc_test(MODULE Drivers/ring_buffer)
 make_fc_test(MODULE Drivers/sbus DEPS HAL/uart Drivers/ring_buffer)
-make_fc_test(MODULE HAL/pwm16bit DEPS avr/io)
-make_fc_test(MODULE HAL/timer8bit DEPS avr/io)
-make_fc_test(MODULE HAL/uart DEPS avr/io)
 
 target_link_libraries(MessageEncoding.mock PUBLIC ToolboxPlaneMessageDefs)
 target_link_libraries(MessageDecoding.mock PUBLIC ToolboxPlaneMessageDefs)

Tests/LowLevel/Drivers/protobuf.cpp

@@ -19,7 +19,8 @@ TEST(TEST_NAME, init) {
 
     EXPECT_TRUE(uartHandle.functionGotCalled<uart_init>(0, 115200U, NONE, 1, std::ignore));
     EXPECT_TRUE(ringBufferHandle.functionGotCalled<ring_buffer_init>());
-    EXPECT_TRUE(decodeHandle.functionGotCalled<message_decoding_init>(std::ignore, 0x40));
+    EXPECT_TRUE(decodeHandle.functionGotCalled<message_decoding_init>(
+            std::ignore, 0x40, ToolboxPlaneMessages_FlightControllerSetpoint_fields));
 }
 
 TEST(TEST_NAME, send_fc) {
@@ -92,7 +93,7 @@ TEST(TEST_NAME, rx_fill_buffer) {
     EXPECT_TRUE(ringBufferHandle.functionGotCalled<ring_buffer_put>(std::ignore, 54));
 }
 
-TEST(TEST_NAME, available_read_buffer) {
+TEST(TEST_NAME, available__read_buffer) {
     auto uartHandle = mock::uart.getHandle();
     auto decodeHandle = mock::MessageDecoding.getHandle();
     auto ringBufferHandle = mock::ring_buffer.getHandle();
@@ -109,18 +110,14 @@ TEST(TEST_NAME, available_read_buffer) {
         return count <= 4;
     });
     decodeHandle.overrideFunc<message_decoding_decode>([](message_decoding_data_t * /*messageDecodingData*/,
-                                                          uint8_t /*data*/, const pb_msgdesc_t * /*fields*/,
+                                                          uint8_t /*data*/,
                                                           void * /*message*/) -> bool { return false; });
 
     protobuf_available();
-    EXPECT_TRUE(decodeHandle.functionGotCalled<message_decoding_decode>(
-            std::ignore, 1, &ToolboxPlaneMessages_FlightControllerSetpoint_msg, std::ignore));
-    EXPECT_TRUE(decodeHandle.functionGotCalled<message_decoding_decode>(
-            std::ignore, 2, &ToolboxPlaneMessages_FlightControllerSetpoint_msg, std::ignore));
-    EXPECT_TRUE(decodeHandle.functionGotCalled<message_decoding_decode>(
-            std::ignore, 3, &ToolboxPlaneMessages_FlightControllerSetpoint_msg, std::ignore));
-    EXPECT_TRUE(decodeHandle.functionGotCalled<message_decoding_decode>(
-            std::ignore, 4, &ToolboxPlaneMessages_FlightControllerSetpoint_msg, std::ignore));
+    EXPECT_TRUE(decodeHandle.functionGotCalled<message_decoding_decode>(std::ignore, 1, std::ignore));
+    EXPECT_TRUE(decodeHandle.functionGotCalled<message_decoding_decode>(std::ignore, 2, std::ignore));
+    EXPECT_TRUE(decodeHandle.functionGotCalled<message_decoding_decode>(std::ignore, 3, std::ignore));
+    EXPECT_TRUE(decodeHandle.functionGotCalled<message_decoding_decode>(std::ignore, 4, std::ignore));
 }
 
 TEST(TEST_NAME, receive_pb_no_decode) {
@@ -141,7 +138,7 @@ TEST(TEST_NAME, receive_pb_no_decode) {
             });
 
     decodeHandle.overrideFunc<message_decoding_decode>([](message_decoding_data_t * /*messageDecodingData*/,
-                                                          uint8_t /*data*/, const pb_msgdesc_t * /*fields*/,
+                                                          uint8_t /*data*/,
                                                           void * /*message*/) -> bool { return false; });
 
     EXPECT_FALSE(protobuf_available());
@@ -165,7 +162,7 @@ TEST(TEST_NAME, receive_pb_yes_decode) {
             });
 
     decodeHandle.overrideFunc<message_decoding_decode>([](message_decoding_data_t * /*messageDecodingData*/,
-                                                          uint8_t /*data*/, const pb_msgdesc_t * /*fields*/,
+                                                          uint8_t /*data*/,
                                                           void * /*message*/) -> bool { return true; });
 
     EXPECT_TRUE(protobuf_available());
@@ -188,15 +185,14 @@ TEST(TEST_NAME, receive_pb_decode_data) {
                 return count == 1;
             });
 
-    decodeHandle.overrideFunc<message_decoding_decode>([](message_decoding_data_t * /*messageDecodingData*/,
-                                                          uint8_t /*data*/, const pb_msgdesc_t * /*fields*/,
-                                                          void *message) -> bool {
-        auto fcData = static_cast<ToolboxPlaneMessages_FlightControllerSetpoint *>(message);
-        fcData->motor = 1337;
-        fcData->pitch = 17;
-        fcData->roll = 34;
-        return true;
-    });
+    decodeHandle.overrideFunc<message_decoding_decode>(
+            [](message_decoding_data_t * /*messageDecodingData*/, uint8_t /*data*/, void *message) -> bool {
+                auto fcData = static_cast<ToolboxPlaneMessages_FlightControllerSetpoint *>(message);
+                fcData->motor = 1337;
+                fcData->pitch = 17;
+                fcData->roll = 34;
+                return true;
+            });
 
     EXPECT_TRUE(protobuf_available());
     EXPECT_EQ(protobuf_get().motor, 1337);