void ntNodeGetVersionStrTest()
{
std::cout << "ntNodeGetVersionStrTest\t";
NtRingBuf buffer = NtRingBuf();
NtNode ntNode = NtNode(NTBUS_ID_IMU1, "test", &buffer);
buffer.push(NTBUS_STX | NTBUS_TRIGGER);
buffer.push(NTBUS_STX | NTBUS_CMD | NTBUS_ID_IMU1);
buffer.push(NTBUS_CMD_GETVERSIONSTR);
uint8_t recv;
while (ntNode.processBusData(&recv) >= 0);
assert(!(UCSR0B & (1<<TXEN0)));
assert(ntNode.getBusState() == NtNode::IDLE);
const uint8_t reference[NTBUS_CMDGETVERSIONSTR_DATALEN] = STORM32NTBUS_VERSIONSTR;
assert(memcmp(reference, usart0buf, NTBUS_CMDGETVERSIONSTR_DATALEN) == 0);
usart0_reset();
std::cout << "[PASS]" << std::endl;
}
void ntNodeGetBoardStrTest()
{
std::cout << "ntNodeGetBoardStrTest\t";
const char boardName[] = "test board";
char boardNameBuf[NTBUS_CMDGETBOARDSTR_DATALEN];
memset(boardNameBuf, 0, sizeof(boardNameBuf));
memcpy(boardNameBuf, boardName, sizeof(boardName));
NtRingBuf buffer = NtRingBuf();
NtNode ntNode = NtNode(NTBUS_ID_IMU1, boardNameBuf, &buffer);
buffer.push(NTBUS_STX | NTBUS_TRIGGER);
buffer.push(NTBUS_STX | NTBUS_CMD | NTBUS_ID_IMU1);
buffer.push(NTBUS_CMD_GETBOARDSTR);
uint8_t recv;
while (ntNode.processBusData(&recv) >= 0);
assert(!(UCSR0B & (1<<TXEN0)));
assert(ntNode.getBusState() == NtNode::IDLE);
tNTBusCmdGetBoardStrData referenceFrame;
memset(&referenceFrame, 0, NTBUS_CMDGETBOARDSTR_DATALEN);
memcpy(&referenceFrame, boardName, sizeof(boardName));
uint8_t reference[NTBUS_CMDGETBOARDSTR_DATALEN+1];
memcpy(reference, &referenceFrame, NTBUS_CMDGETBOARDSTR_DATALEN);
reference[NTBUS_CMDGETBOARDSTR_DATALEN] =
ntcrc((uint8_t*) &referenceFrame, NTBUS_CMDGETBOARDSTR_DATALEN);
assert(memcmp(reference, usart0buf, sizeof(reference)) == 0);
usart0_reset();
std::cout << "[PASS]" << std::endl;
}
static void usart0_shutdown(struct uart_dev_s *dev)
{
/* Reset, disable interrupts, and disable Rx and Tx */
usart0_reset();
}
