// Tests the basic functionality of push/pop/peek/size/etc. functions.
void BasicSerialBufferTest(void** state)
{
(void)state; // Unused.
// Create a serial buffer of size 32.
struct SerialBuffer buf;
SerialBufferInit(&buf, 32);
// Check the capacity and that it should be empty by default.
assert_int_equal(SerialBufferMaxCapacity(&buf), 32);
assert_int_equal(SerialBufferIsEmpty(&buf), 1);
// Save formatted text to the buffer.
SerialBufferPrintf(&buf, "Hello World! %f\n", 3.14152);
// Ensure the correct number of bytes were saved to the buffer.
assert_int_equal(SerialBufferSize(&buf), 21);
// Peek into the buffer.
assert_int_equal(SerialBufferPeek(&buf, 0), 'H');
assert_int_equal(SerialBufferPeek(&buf, 7), 'o');
// Fill the buffer to it's max.
SerialBufferPrintf(&buf, "Foo! Foo! Foo! Foo!\n");
assert_int_equal(SerialBufferIsFull(&buf), 1);
uint8_t i = 0;
// Keep removing items from the buffer until it's empty.
while (!SerialBufferIsEmpty(&buf))
{
SerialBufferPop(&buf);
i++;
}
// Ensure the correct number of items were removed.
assert_int_equal(i, 32);
// Fill the buffer again. (0 = no error).
for (i = 0; i < 32; i++)
assert_int_equal(SerialBufferPush(&buf, i), 0);
// Ensure it's full again.
assert_int_equal(SerialBufferIsFull(&buf), 1);
assert_int_equal(SerialBufferSize(&buf), 32);
// Empty the buffer, ensuring all the data was correct.
for (i = 0; i < 32; i++)
assert_int_equal(SerialBufferPop(&buf), i);
assert_int_equal(SerialBufferIsEmpty(&buf), 1);
}
void ReceiveSerialCmds(void)
{
static char ReceiveCmdState = 0;
static char CurrentCmd[23] = {0};
char c;
static int charCount = 0;
static char deviceNum = 0;
static char deviceType = 0;
//TODO: Clear the overflow flag if set
if(_OERR)
{
_OERR = 0;
#ifdef __DEBUG
while(1); // Freeze here if it occurs while debugging!
#endif
}
switch (ReceiveCmdState)
{
default:
case 0:
// Check if the buffer contains data
if (SerialBufferIsEmpty()) return;
charCount = 0;
// Buffer has data, get the first item
CurrentCmd[0] = SerialBuffer[SB_Read++];
SB_Read %= SERIAL_BUFFER_SIZE;
if(CurrentCmd[charCount] == '<')
{
ReceiveCmdState = 1; // Increment to the next state
// DON'T BREAK, FALL THROUGH TO NEXT STATE
}
else
{
break;
}
case 1:
// Check if the buffer contains data
if (SerialBufferIsEmpty()) return;
// Read the next value from the buffer and Change the buffer read pointer
c = SerialBuffer[SB_Read++];
SB_Read %= SERIAL_BUFFER_SIZE;
// Check if it's 'F'
if(c == 'F' || c == 'R')
{
ReceiveCmdState = 2;
deviceType = c;
// DON'T BREAK, FALL THROUGH TO NEXT STATE
}
else
{
// unrecognized command just start the cycle over...
sendStringUART(ERR_CMD_UNKNOWN, 1);
ReceiveCmdState = 0;
break;
}
case 2:
// Check if the buffer contains data
if (SerialBufferIsEmpty()) return;
charCount = 0;
// Read the next value from the buffer and Change the buffer read pointer
c = SerialBuffer[SB_Read++];
SB_Read %= SERIAL_BUFFER_SIZE;
// Check if it's '1' or '2'
if(c == '1' || c == 'H')
{
deviceNum = c;
charCount = 0;
ReceiveCmdState = 3;
// DON'T BREAK, FALL THROUGH TO NEXT STATE
}
else
{
// Unrecognized command received. Send error
sendStringUART( ERR_CMD_UNKNOWN, 1);
ReceiveCmdState = 0;
break;
}
case 3:
// Now we are shifting in the command data, stay here until
// the end command or begin command is received.
if (SerialBufferIsEmpty()) return;
// Read the next value from the buffer and Change the buffer read pointer
c = SerialBuffer[SB_Read++];
SB_Read %= SERIAL_BUFFER_SIZE;
if(charCount > (FOCUSER_COMMAND_SIZE + 4))
{
// Send command too long error
sendStringUART(ERR_CMD_TOO_LONG, 1);
// Wait for new command
ReceiveCmdState = 0;
}
else if(c == '>')
{
// THE COMMAND IS COMPLETE
CurrentCmd[charCount] = 0;
sendStringUART("!", 1);
ReceiveCmdState = 4;
}
else if ( c == '<')
{
ReceiveCmdState = 1;
}
else
{
CurrentCmd[charCount++] = c;
}
break;
case 4:
{
char errorMsg[] = {0x00};
// We have a command. Determine what it is.
focusingRotatorCommand newCmd;
memset(&newCmd, 0x00, sizeof(focusingRotatorCommand));
newCmd.source = SERIAL;
newCmd.deviceType = deviceType;
InterpretCommandString(CurrentCmd, charCount, &newCmd, errorMsg);
// Make sure a valid command has been set
if(newCmd.command == CMD_NONE)
sendStringUART(ERR_CMD_UNKNOWN, 1);
else if(newCmd.command == CMD_ERROR)
sendStringUART(errorMsg, 1);
else
AddCmdToBfr(deviceNum, &newCmd);
ReceiveCmdState = 0;
}
break;
}
}
