feat: add Cucumber integration tests (#221)

* Add cucumber submodule * Add integration_test/test * .github/workflows/ci.yml: Checkout submodules * Update amp-embedded-infra-lib * Update amp-embedded-infra-lib: fix: infra/util/Endian: fix comparison against C++ version * Update amp-cucumber-cpp-runner-poc * .github/workflows/ci.yml: Remove Visual Studio 2019 and gcc 7 from tested compilers since they can't handle C++20 * Do some work on integration tests * Various fixes * Fix compilation * Run clang-format * Update .github/workflows/ci.yml Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> * Update devcontainer * Exclude gherkin libraries from all target * feat!: update MessageCommunication to Sesame * integration_test/test/FixtureEcho: Adapt for Sesame * CMakeLists: Don't set EXCLUDE_FROM_ALL on gherkin targets because otherwise they fail to install * integration_test/logic/Gpio: Differentiate between GpioTester and GpioTested's GpioChanged * integration_test/tested,tester/Main: Add tracing infrastructure * chore: add integration test board pcb (cherry picked from commit f20dc01) * integration_test/logic/Gpio: Fix order of RequestSend and setting sending * integration_test: Use UartStmDuplexDma * CMakeLists: Update amp-embedded-infralib * integration_test/{tester,tested}/Main: Add missing include * integration_test/{tester,tested}: Add tracing on ECHO calls * integration_test/test: Update and fix * Update amp-cucumber-cpp-runner-poc * Update amp-cucumber-cpp-runner * Change amp-cucumber-cpp-runner-poc to amp-cucumber-cpp-runner * Update amp-cucumber-cpp-runner * CMakeLists: Rename amp-cucumber-cpp-runner-poc to amp-cucumber-cpp-runner * launch.json: Set gdbPath to gdb-multiarch * Apply clang-format * Update amp-embedded-infralib, reset colour in GlobalTracer * integration_test: Reset tested before starting a scenario * Update amp-cucumber-cpp-runner * integration_test/test: Run tests and EventDispatcher from single thread * Remove integration_test/test/FixtureSystemChanges * Move EventDispatcherThreadAware to amp-embedded-infra-lib * integration_test: Add UART test * integration_test/test/Hooks: Get serial port to use from command line arguments * integration_test/test/FixtureEcho: Support Unix serial ports * Extract FixtureEchoSerial from FixtureEcho * integration_test/test/FixtureEcho: Refactor FixtureEchoSerial * integration_test/test/FixtureEcho: Add EchoClientWebSocket * Add integration_test/test/features/uart_duplex_dma.feature * Update amp-cucumber-cpp-runner * Rename integration_test.test to integration_test.runner * integration_test/tested: Add main for stm32wb55 * integration_test/runner/FixtureEcho: Add EchoClientTcp * integration_test: Adjust for DMA refactoring (cherry picked from commit 14689d2) * .github/workflows/ci.yml: fix merge mistake * CMakeLists: Only build integration_test when building amp-hal-st standalone * Update amp-embedded-infra-lib * Remove amp-cucumber-cpp-runner as submodule, use FetchContent instead * Use different version of amp-cucumber-cpp-runner * integration_test/tested/CMakeLists: Disable stm32wb55 for now * chore: resolve some PR comments * Add EXPECT_TRUE to WaitFor and WaitUntil invocations * Update amp-devcontainer-cpp and amp-cucumber-cpp-runner --------- Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: Ron <[email protected]> Co-authored-by: Arun Magi <[email protected]> Co-authored-by: Rob Ekelmans <[email protected]>
philips-software · Sep 2, 2024 · 75ece18 · 75ece18
1 parent a830ed6
commit 75ece18
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Showing 44 changed files with 4,604 additions and 78 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -45,7 +45,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [windows-latest, windows-2019, macos-latest]
+        os: [windows-latest, macos-latest]
     steps:
       - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 # v4.1.7
         with:
@@ -73,12 +73,21 @@ jobs:
     strategy:
       matrix:
         configuration: ["RelWithDebInfo"]
-        gcc: [ "10.3-2021.10" ]
-        target: ["stm32wb55", "stm32g070", "stm32g431", "stm32f407", "stm32f429", "stm32f746", "stm32f767", "stm32wba52", "stm32h563", "stm32h573"]
+        gcc: ["10.3-2021.10"]
+        target:
+          [
+            "stm32wb55",
+            "stm32wba52",
+            "stm32g070",
+            "stm32g431",
+            "stm32f407",
+            "stm32f429",
+            "stm32f746",
+            "stm32f767",
+            "stm32h563",
+            "stm32h573"
+          ]
         include:
-          - gcc: "7-2018-q2"
-            configuration: "RelWithDebInfo"
-            target: "stm32f767"
           - gcc: "8-2019-q3"
             configuration: "RelWithDebInfo"
             target: "stm32f767"
@@ -87,6 +96,8 @@ jobs:
             target: "stm32f767"
     steps:
       - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 # v4.1.7
+        with:
+          persist-credentials: false
       - name: Install GNU Arm Embedded Toolchain ${{ matrix.gcc }}
         uses: carlosperate/arm-none-eabi-gcc-action@0cc83a7330501be1848887e2966aaceb49a4bb12 # v1.9.1
         with:

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -27,7 +27,7 @@ endif()
 
 project(hal_st LANGUAGES C CXX ASM VERSION 3.0.0) # x-release-please-version
 
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED On)
 
 set_directory_properties(PROPERTY USE_FOLDERS ON)
@@ -40,10 +40,25 @@ else()
     set(HALST_EXCLUDE_FROM_ALL "EXCLUDE_FROM_ALL")
 endif()
 
+if (EMIL_HOST_BUILD)
+    include(FetchContent)
+
+    FetchContent_Declare(
+        cucumber-cpp-runner
+        GIT_REPOSITORY https://github.com/philips-software/amp-cucumber-cpp-runner.git
+        GIT_TAG        f3ef05b18363c2199e0978341b96cb2443a2b8f5 # unreleased
+    )
+
+    FetchContent_MakeAvailable(cucumber-cpp-runner)
+
+endif()
+
 add_subdirectory(st)
 add_subdirectory(hal_st)
 add_subdirectory(hal_st_lwip)
-add_subdirectory(integration_test)
+if (HALST_STANDALONE)
+    add_subdirectory(integration_test)
+endif()
 add_subdirectory(services)
 add_subdirectory(examples)
 

diff --git a/hal_st/stm32fxxx/DefaultClockNucleoF767ZI.cpp b/hal_st/stm32fxxx/DefaultClockNucleoF767ZI.cpp
@@ -1,7 +1,6 @@
 #include DEVICE_HEADER
 #include "hal_st/stm32fxxx/DefaultClockNucleoF767ZI.hpp"
 
-
 /* The system Clock is configured as follows:
  *    System Clock source            = PLL (HSE)
  *    SYSCLK(Hz)                     = 216000000
@@ -32,11 +31,11 @@ void ConfigureDefaultClockNucleo767ZI()
     RCC_OscInitStruct.HSEState = RCC_HSE_ON;
     RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
     RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-    RCC_OscInitStruct.PLL.PLLM = 4;               // Divides the 8MHz HSI to 2MHz
-    RCC_OscInitStruct.PLL.PLLN = 216;             // Multiplies the 2MHz to 432MHz
-    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;   // Divides the 432MHz to 216MHz for SYSCLK
-    RCC_OscInitStruct.PLL.PLLQ = 9;               // Divides the 432MHz to 48MHz for USB and SDMMC and RNG
-    RCC_OscInitStruct.PLL.PLLR = 7;               // Divides the 432MHz to 62MHz for DSI (No clue what a good frequency would be here...)
+    RCC_OscInitStruct.PLL.PLLM = 4;             // Divides the 8MHz HSI to 2MHz
+    RCC_OscInitStruct.PLL.PLLN = 216;           // Multiplies the 2MHz to 432MHz
+    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; // Divides the 432MHz to 216MHz for SYSCLK
+    RCC_OscInitStruct.PLL.PLLQ = 9;             // Divides the 432MHz to 48MHz for USB and SDMMC and RNG
+    RCC_OscInitStruct.PLL.PLLR = 7;             // Divides the 432MHz to 62MHz for DSI (No clue what a good frequency would be here...)
     HAL_RCC_OscConfig(&RCC_OscInitStruct);
 
     HAL_PWREx_EnableOverDrive();

diff --git a/integration_test/CMakeLists.txt b/integration_test/CMakeLists.txt
@@ -1,3 +1,4 @@
 add_subdirectory(logic)
 add_subdirectory(tested)
 add_subdirectory(tester)
+add_subdirectory(runner)
diff --git a/integration_test/logic/CMakeLists.txt b/integration_test/logic/CMakeLists.txt
@@ -15,6 +15,8 @@ target_sources(integration_test.logic PRIVATE
     Tested.hpp
     Tester.cpp
     Tester.hpp
+    Uart.cpp
+    Uart.hpp
 )
 
 target_link_libraries(integration_test.logic PUBLIC

diff --git a/integration_test/logic/Gpio.cpp b/integration_test/logic/Gpio.cpp
@@ -19,42 +19,50 @@ namespace application
         in.DisableInterrupt();
     }
 
-    void GpioBase::SetGpio(bool state, uint32_t pin)
+    void GpioBase::SetGpio(bool state)
     {
         out.Set(state);
     }
 
     void GpioBase::InChanged()
     {
-        if (!sending)
+        if (!std::exchange(sending, true))
             RequestSend([this]()
                 {
                     sending = false;
-                    TestedGpioChanged(in.Get(), 0);
+                    GpioChanged(in.Get());
                 });
-
-        sending = true;
     }
 
     GpioTester::GpioTester(services::Echo& echo, hal::GpioPin& inPin, hal::GpioPin& outPin)
         : GpioBase(echo, inPin, outPin)
         , testing::GpioTester(echo)
     {}
 
-    void GpioTester::SetGpio(bool state, uint32_t pin)
+    void GpioTester::SetGpio(bool state)
     {
-        GpioBase::SetGpio(state, pin);
+        GpioBase::SetGpio(state);
         MethodDone();
     }
 
+    void GpioTester::GpioChanged(bool state)
+    {
+        TesterGpioChanged(state);
+    }
+
     GpioTested::GpioTested(services::Echo& echo, hal::GpioPin& inPin, hal::GpioPin& outPin)
         : GpioBase(echo, inPin, outPin)
         , testing::GpioTested(echo)
     {}
 
-    void GpioTested::SetGpio(bool state, uint32_t pin)
+    void GpioTested::SetGpio(bool state)
     {
-        GpioBase::SetGpio(state, pin);
+        GpioBase::SetGpio(state);
         MethodDone();
     }
+
+    void GpioTested::GpioChanged(bool state)
+    {
+        TestedGpioChanged(state);
+    }
 }
diff --git a/integration_test/logic/Gpio.hpp b/integration_test/logic/Gpio.hpp
@@ -13,7 +13,10 @@ namespace application
         GpioBase(services::Echo& echo, hal::GpioPin& inPin, hal::GpioPin& outPin);
         ~GpioBase();
 
-        void SetGpio(bool state, uint32_t pin);
+        void SetGpio(bool state);
+
+    protected:
+        virtual void GpioChanged(bool state) = 0;
 
     private:
         void InChanged();
@@ -32,7 +35,10 @@ namespace application
         GpioTester(services::Echo& echo, hal::GpioPin& inPin, hal::GpioPin& outPin);
 
         // Implementation of GpioTester
-        void SetGpio(bool state, uint32_t pin) override;
+        void SetGpio(bool state) override;
+
+    protected:
+        virtual void GpioChanged(bool state) override;
     };
 
     class GpioTested
@@ -43,7 +49,10 @@ namespace application
         GpioTested(services::Echo& echo, hal::GpioPin& inPin, hal::GpioPin& outPin);
 
         // Implementation of GpioTested
-        void SetGpio(bool state, uint32_t pin) override;
+        void SetGpio(bool state) override;
+
+    protected:
+        virtual void GpioChanged(bool state) override;
     };
 }
 

diff --git a/integration_test/logic/Peripheral.cpp b/integration_test/logic/Peripheral.cpp
@@ -27,4 +27,9 @@ namespace application
                 return false;
             });
     }
+
+    void Peripherals::Reset()
+    {
+        currentPeripheral = nullptr;
+    }
 }
diff --git a/integration_test/logic/Peripheral.hpp b/integration_test/logic/Peripheral.hpp
@@ -29,37 +29,38 @@ namespace application
         virtual services::Echo& GetEcho() const = 0;
 
         void EnablePeripheral(testing::Peripheral type);
+        void Reset();
 
     private:
         infra::SharedPtr<void> currentPeripheral;
     };
 
-    template<class Constructed>
-    class Perpipheral
+    template<class Constructed, class... Args>
+    class Peripheral
         : public PeripheralBase
     {
     public:
-        Perpipheral(Peripherals& subject, testing::Peripheral type);
+        Peripheral(Peripherals& subject, testing::Peripheral type, Args&&... args);
 
         infra::SharedPtr<void> Construct() override;
 
     private:
-        services::Echo& echo;
+        std::tuple<services::Echo&, Args...> args;
         infra::SharedOptional<Constructed> constructed;
     };
 
     //// Implementation ////
 
-    template<class Constructed>
-    Perpipheral<Constructed>::Perpipheral(Peripherals& subject, testing::Peripheral type)
+    template<class Constructed, class... Args>
+    Peripheral<Constructed, Args...>::Peripheral(Peripherals& subject, testing::Peripheral type, Args&&... args)
         : PeripheralBase(subject, type)
-        , echo(subject.GetEcho())
+        , args(subject.GetEcho(), std::forward<Args>(args)...)
     {}
 
-    template<class Constructed>
-    infra::SharedPtr<void> Perpipheral<Constructed>::Construct()
+    template<class Constructed, class... Args>
+    infra::SharedPtr<void> Peripheral<Constructed, Args...>::Construct()
     {
-        return constructed.Emplace(echo);
+        return std::apply(&infra::SharedOptional<Constructed>::template Emplace<services::Echo&, Args...>, std::tuple_cat(std::tuple<infra::SharedOptional<Constructed>&>(constructed), args));
     }
 }
 

diff --git a/integration_test/logic/Tested.cpp b/integration_test/logic/Tested.cpp
@@ -4,8 +4,18 @@ namespace application
 {
     Tested::Tested(services::Echo& echo)
         : testing::Tested(echo)
+        , testedObserver(echo)
     {}
 
+    void Tested::Ping()
+    {
+        testedObserver.RequestSend([this]()
+            {
+                testedObserver.Pong();
+                MethodDone();
+            });
+    }
+
     void Tested::EnablePeripheral(testing::Peripheral type)
     {
         Peripherals::EnablePeripheral(type);

diff --git a/integration_test/logic/Tested.hpp b/integration_test/logic/Tested.hpp
@@ -16,10 +16,35 @@ namespace application
         Tested(services::Echo& echo);
 
         // Implementation of Tested
+        void Ping() override;
         void EnablePeripheral(testing::Peripheral type) override;
 
         // Implementation of Peripherals
         services::Echo& GetEcho() const override;
+
+    private:
+        testing::TestedObserverProxy testedObserver;
+    };
+
+    class TestedObserver
+        : public testing::TestedObserver
+    {
+    public:
+        using testing::TestedObserver::TestedObserver;
+
+        void Pong() override
+        {
+            pongReceived = true;
+            MethodDone();
+        }
+
+        bool ReceivedPong()
+        {
+            return std::exchange(pongReceived, false);
+        }
+
+    private:
+        bool pongReceived = false;
     };
 }
 

diff --git a/integration_test/logic/Tester.cpp b/integration_test/logic/Tester.cpp
@@ -2,16 +2,20 @@
 
 namespace application
 {
-    Tester::Tester(services::Echo& echo, hal::GpioPin& resetTesterPin)
+    Tester::Tester(services::Echo& echo, hal::GpioPin& resetTesterPin, services::EchoOnSesame& echoToTested)
         : testing::Tester(echo)
+        , echoToTested(echoToTested)
         , resetTester(resetTesterPin, true)
     {}
 
     void Tester::Reset()
     {
         resetTester.Set(false);
 
-        resetTimer.Start(std::chrono::milliseconds(3000), [this]()
+        Peripherals::Reset();
+        echoToTested.Reset();
+
+        resetTimer.Start(std::chrono::milliseconds(10), [this]()
             {
                 resetTester.Set(true);
                 MethodDone();

diff --git a/integration_test/logic/Tester.hpp b/integration_test/logic/Tester.hpp
@@ -5,6 +5,7 @@
 #include "hal/interfaces/Gpio.hpp"
 #include "infra/timer/Timer.hpp"
 #include "integration_test/logic/Peripheral.hpp"
+#include "services/util/EchoOnSesame.hpp"
 
 namespace application
 {
@@ -13,7 +14,7 @@ namespace application
         , public Peripherals
     {
     public:
-        Tester(services::Echo& echo, hal::GpioPin& resetTesterPin);
+        Tester(services::Echo& echo, hal::GpioPin& resetTesterPin, services::EchoOnSesame& echoToTested);
 
         // Implementation of Tester
         void Reset() override;
@@ -23,10 +24,9 @@ namespace application
         services::Echo& GetEcho() const override;
 
     private:
+        services::EchoOnSesame& echoToTested;
         hal::OutputPin resetTester;
         infra::TimerSingleShot resetTimer;
-
-        infra::SharedPtr<void> currentPeripheral;
     };
 }