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tests: test_runner, working simple single-ESP "solo" test cases

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This commit is contained in:
Angus Gratton 2016-02-09 21:03:50 +11:00
parent 97a46e8c1a
commit 80b191af08
7 changed files with 492 additions and 22 deletions
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6
tests/Makefile
View file

@ -3,11 +3,15 @@ PROGRAM=tests
EXTRA_LINKER_SCRIPTS = $(PROGRAM_DIR)ld/tests.ld
PROGRAM_SRC_DIR = $(PROGRAM_DIR) $(PROGRAM_DIR)cases
# Add unity test framework headers & core source file
PROGRAM_INC_DIR = $(PROGRAM_DIR)unity/src
PROGRAM_EXTRA_SRC_FILES = $(PROGRAM_DIR)unity/src/unity.c
# append -u <basename_test_entry to the linker arguments for
# each source file in the 'cases' directory, so the test case
# entries get added to the compiled binary
TESTCASE_SRC_FILES = $(wildcard $(PROGRAM_DIR)cases/*.c)
TESTCASE_ENTRIES = $(sort $(patsubst %.c,%,$(TESTCASE_SRC_FILES)))
EXTRA_LDFLAGS = $(foreach entry,$(TESTCASE_ENTRIES),-u testcase_$(notdir $(entry)))
EXTRA_LDFLAGS = $(foreach entry,$(TESTCASE_ENTRIES),$(BUILD_DIR)program/$(entry).o)
include ../common.mk

8
tests/cases/01_basic.c
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@ -1,8 +0,0 @@
#include "testcase.h"
DEFINE_SOLO_TESTCASE(01_basic)
static bool a_01_basic()
{
return false;
}

71
tests/cases/01_scheduler.c Normal file
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@ -0,0 +1,71 @@
#include "testcase.h"
#include <FreeRTOS.h>
#include <task.h>
#include <esp/uart.h>
/* Basic test cases to validate the FreeRTOS scheduler works */
DEFINE_SOLO_TESTCASE(01_scheduler_basic)
DEFINE_SOLO_TESTCASE(01_scheduler_priorities)
void set_variable(void *pvParameters)
{
bool *as_bool = (bool *)pvParameters;
*as_bool = true;
/* deliberately a busywait at the end, not vTaskSuspend, to test priorities */
while(1) { }
}
/* Really simple - do created tasks run? */
static void a_01_scheduler_basic()
{
volatile bool a = false, b = false, c = false;
printf("top of scheduler...\n");
uart_flush_txfifo(0);
xTaskCreate(set_variable, (signed char *)"set_a", 128, (void *)&a, tskIDLE_PRIORITY, NULL);
xTaskCreate(set_variable, (signed char *)"set_b", 128, (void *)&b, tskIDLE_PRIORITY, NULL);
xTaskCreate(set_variable, (signed char *)"set_c", 128, (void *)&c, tskIDLE_PRIORITY, NULL);
TEST_ASSERT_FALSE_MESSAGE(a, "task set_a shouldn't run yet");
TEST_ASSERT_FALSE_MESSAGE(b, "task set_b shouldn't run yet");
TEST_ASSERT_FALSE_MESSAGE(c, "task set_c shouldn't run yet");
vTaskDelay(5);
TEST_ASSERT_TRUE_MESSAGE(a, "task set_a should have run");
TEST_ASSERT_TRUE_MESSAGE(b, "task set_b should have run");
TEST_ASSERT_TRUE_MESSAGE(c, "task set_c should have run");
TEST_PASS;
}
/* Verify that a high-priority task will starve a lower priority task */
static void a_01_scheduler_priorities()
{
/* Increase priority of the init task to make sure it always takes priority */
vTaskPrioritySet(xTaskGetCurrentTaskHandle(), tskIDLE_PRIORITY+4);
bool lower = false, higher = false;
xTaskHandle task_lower, task_higher;
xTaskCreate(set_variable, (signed char *)"high_prio", 128, (void *)&higher, tskIDLE_PRIORITY+1, &task_higher);
xTaskCreate(set_variable, (signed char *)"low_prio", 128, (void *)&lower, tskIDLE_PRIORITY, &task_lower);
TEST_ASSERT_FALSE_MESSAGE(higher, "higher prio task should not have run yet");
TEST_ASSERT_FALSE_MESSAGE(lower, "lower prio task should not have run yet");
vTaskDelay(2);
TEST_ASSERT_TRUE_MESSAGE(higher, "higher prio task should have run");
TEST_ASSERT_FALSE_MESSAGE(lower, "lower prio task should not have run");
/* Bump lower priority task over higher priority task */
vTaskPrioritySet(task_lower, tskIDLE_PRIORITY+2);
TEST_ASSERT_FALSE_MESSAGE(lower, "lower prio task should still not have run yet");
vTaskDelay(1);
TEST_ASSERT_TRUE_MESSAGE(lower, "lower prio task should have run");
TEST_PASS;
}

37
tests/cases/02_heap.c Normal file
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@ -0,0 +1,37 @@
#include "testcase.h"
#include <malloc.h>
#include <string.h>
#include <FreeRTOS.h>
DEFINE_SOLO_TESTCASE(02_heap_simple)
/* Simple heap accounting tests */
static void a_02_heap_simple()
{
struct mallinfo info = mallinfo();
printf("'arena' allocation size %d bytes\n", info.arena);
/* This is really a sanity check, if the "arena" size shrinks then
this is a good thing and we can update the test. If it grows
then we can also update the test, but we need a good reason. */
TEST_ASSERT_INT_WITHIN_MESSAGE(1000, 15000, info.arena, "Initial allocated heap should be approximately 15kB. SEE COMMENT.");
uint32_t freeheap = xPortGetFreeHeapSize();
printf("xPortGetFreeHeapSize = %d bytes\n", freeheap);
TEST_ASSERT_TRUE_MESSAGE(freeheap > 20000, "Should be at least 20kB free.");
uint8_t *buf = malloc(8192);
/* <-- have to do something with buf or gcc helpfully optimises it out! */
memset(buf, 0xEE, 8192);
uint32_t after = xPortGetFreeHeapSize();
struct mallinfo after_info = mallinfo();
printf("after arena size = %d bytes\n", after_info.arena);
printf("after xPortGetFreeHeapSize = %d bytes\n", after);
TEST_ASSERT_UINT32_WITHIN_MESSAGE(100, info.arena+8192, after_info.arena, "Allocated heap 'after' size should be 8kB more than before");
TEST_ASSERT_UINT32_WITHIN_MESSAGE(100, freeheap-8192, after, "Free heap size should be 8kB less than before");
free(buf);
after = xPortGetFreeHeapSize();
printf("after freeing xPortGetFreeHeapSize = %d bytes\n", after);
TEST_ASSERT_UINT32_WITHIN_MESSAGE(100, freeheap, after, "Free heap size after freeing buffer should be close to initial");
TEST_PASS;
}

31
tests/include/testcase.h
View file

@ -4,6 +4,12 @@
#include <stdio.h>
#include "esp/uart.h"
/* Unity is the framework with test assertions, etc. */
#include "unity.h"
/* Need to explicitly flag once a test has completed successfully. */
#define TEST_PASS do { UnityConcludeTest(); while(1) { } } while (0)
/* Types of test, defined by hardware requirements */
typedef enum {
SOLO, /* Test require "ESP A" only, no other connections */
@ -11,30 +17,43 @@ typedef enum {
EYORE_TEST, /* Test requires an eyore-test board with onboard STM32F0 */
} testcase_type_t;
typedef bool (testcase_fn_t)(void);
typedef void (testcase_fn_t)(void);
typedef struct {
char *name;
char *file;
uint8_t line;
testcase_type_t type;
testcase_fn_t *a_fn;
testcase_fn_t *b_fn;
} testcase_t;
void testcase_register(const testcase_t *ignored);
/* Register a test case using these macros. Use DEFINE_SOLO_TESTCASE for single-MCU tests,
and DEFINE_TESTCASE for all other test types.
*/
#define DEFINE_SOLO_TESTCASE(NAME) \
static testcase_fn_t a_##NAME; \
const __attribute__((section(".testcases.text"))) __attribute__((used)) \
testcase_t testcase_##NAME = { .name = #NAME, .type = SOLO, .a_fn = a_##NAME };
_DEFINE_TESTCASE_COMMON(NAME, SOLO, a_##NAME, 0)
#define DEFINE_TESTCASE(NAME, TYPE) \
static testcase_fn_t a_##NAME; \
static testcase_fn_t b_##NAME; \
const __attribute__((section(".testcases.text"))) __attribute__((used)) \
testcase_t testcase_##NAME = { .name = #NAME, .type = TYPE, .a_fn = a_##NAME, .b_fn = b_##NAME };
_DEFINE_TESTCASE_COMMON(NAME, TYPE, A_##NAME, B_##NAME)
#define _DEFINE_TESTCASE_COMMON(NAME, TYPE, A_FN, B_FN) \
const __attribute__((section(".testcases.text"))) \
testcase_t testcase_##NAME = { .name = #NAME, \
.file = __FILE__, \
.line = __LINE__, \
.type = TYPE, \
.a_fn = A_FN, \
.b_fn = B_FN, \
}; \
void __attribute__((constructor)) testcase_ctor_##NAME() { \
testcase_register(&testcase_##NAME); \
}
#endif

18
tests/test_main.c
View file

@ -78,9 +78,25 @@ void user_init(void)
type = 'A';
else if (type == 'b')
type = 'B';
printf("Running test case %d as %c (%s %s)\n", case_idx, type, cases_start[case_idx].name, get_requirements_name(cases_start[case_idx].type));
const testcase_t *tcase = &cases_start[case_idx];
printf("\nRunning test case %d (%s %s) as instance %c \nDefinition at %s:%d\n***\n", case_idx,
tcase->name, get_requirements_name(tcase->type), type,
tcase->file, tcase->line);
Unity.CurrentTestName = tcase->name;
Unity.TestFile = tcase->file;
Unity.CurrentTestLineNumber = tcase->line;
Unity.NumberOfTests = 1;
if(type=='A')
cases_start[case_idx].a_fn();
else
cases_start[case_idx].b_fn();
TEST_FAIL_MESSAGE("\n\nTest initialisation routine returned without calling TEST_PASS. Buggy test?");
}
/* testcase_register is a no-op function, we just need it so the linker
knows to pull in the argument at link time.
*/
void testcase_register(const testcase_t __attribute__((unused)) *ignored)
{
}

331
tests/test_runner.py Executable file
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@ -0,0 +1,331 @@
#!/usr/bin/env python3
import sys
import argparse
import subprocess
import os
import serial
import threading
import re
import time
import traceback
TEST_RESET_TIMEOUT=0.1
TESTCASE_TIMEOUT=10
TESTRUNNER_BANNER="esp-open-rtos test runner."
def main():
global verbose
args = parse_args()
verbose = args.verbose
if not args.no_flash:
flash_image(args.aport)
if args.type != 'solo':
flash_image(args.bport)
env = TestEnvironment(args.aport, TestEnvironment.A)
cases = env.get_testlist()
if args.type != 'solo':
env_b = TestEnvironment(args.bport, TestEnvironment.B)
cases_b = env_b.get_testlist()
if cases != cases_b:
raise TestRunnerError("Test cases on units A & B don't match")
counts = dict((status,0) for status in TestResult.STATUS_NAMES.keys())
failures = False
for test in cases:
res = test.run(env)
counts[res.status] += 1
failures = failures or res.is_failure()
print("%20s: %d" % ("Total tests", sum(c for c in counts.values())))
print()
# print status counts for tests
for c in sorted(counts.keys()):
print("%20s: %d" % (TestResult.STATUS_NAMES[c], counts[c]))
sys.exit(1 if failures else 0)
class TestCase(object):
def __init__(self, index, name, case_type):
self.name = name
self.index = index
self.case_type = case_type
def __repr__(self):
return "#%d: %s (%s)" % (self.index, self.name, self.case_type)
def __eq__(self, other):
return (self.index == other.index
and self.name == other.name
and self.case_type == other.case_type)
def run(self, env_a, env_b = None):
"""
Run the test represented by this instance, against the environment(s) passed in.
Returns a TestResult
"""
print("Running test case '%s'..." % self.name)
mon_a = env_a.start_testcase(self)
mon_b = env_b.start_testcase(self) if env_b else None
while True:
if mon_a.get_result() and (mon_b is None or mon_b.get_result()):
break # all running test environments have finished
# or, in the case both are running, stop as soon as either environemnt shows a failure
try:
if mon_a.get_result().is_failure():
mon_b.cancel()
break
except AttributeError:
pass
try:
if mon_b.get_result().is_failure():
mon_a.cancel()
break
except AttributeError:
pass
time.sleep(0.1)
if mon_b is not None:
# return whichever result is more severe
return max(mon_a.get_result(), mon_b.get_result())
else:
return mon_a.get_result()
class TestResult(object):
""" Class to wrap a test result code and a message """
# Test status flags, higher = more severe
CANCELLED = 0
SKIPPED = 1
PASSED = 2
FAILED = 3
ERROR = 4
STATUS_NAMES = {
CANCELLED : "Cancelled",
SKIPPED : "Skipped",
PASSED : "Passed",
FAILED : "Failed",
ERROR : "Error"
}
def __init__(self, status, message):
self.status = status
self.message = message
def is_failure(self):
return self.status >= TestResult.FAILED
def __cmp__(self, other):
if other is None:
return 1
return self.status - other.status
class TestMonitor(object):
""" Class to monitor a running test case in a separate thread, defer reporting of the result until it's done.
Can poll for completion by calling is_done(), read a TestResult via .get_result()
"""
def __init__(self, port, instance):
super(TestMonitor, self).__init__()
self._thread = threading.Thread(target=self._monitorThread)
self._port = port
self._instance = instance
self._result = None
self._cancelled = False
self.output = ""
self._thread.start()
def cancel(self):
self._cancelled = True
def is_done(self):
return self._result is not None
def get_result(self):
return self._result
def _monitorThread(self):
self.output = ""
start_time = time.time()
self._port.timeout = 0.1
try:
while not self._cancelled and time.time() < start_time + TESTCASE_TIMEOUT:
line = self._port.readline().decode("utf-8", "ignore")
if line == "":
line = "(TIMED OUT)\r\n"
self.output += "%s+%4.2fs %s" % (self._instance, time.time()-start_time, line)
verbose_print(line.strip())
if line.endswith(":PASS\r\n"):
self._result = TestResult(TestResult.PASSED, "Test passed.")
return
elif ":FAIL:" in line:
self._result = TestResult(TestResult.FAILED, "Test failed.")
return
elif line == TESTRUNNER_BANNER:
self._result = TestResult(TestResult.ERROR, "Test caused crash and reset.")
return
if not self._cancelled:
self._result = TestResult(TestResult.CANCELLED, "Cancelled")
else:
self._result = TestResult(TestResult.ERROR, "Test timed out")
finally:
self._port.timeout = None
class TestEnvironment(object):
A = "A"
B = "B"
def __init__(self, port, instance):
self._name = port
self._port = TestSerialPort(port, baudrate=115200)
self._instance = instance
def reset(self):
""" Resets the test board, and waits for the test runner program to start up """
self._port.setDTR(False)
self._port.setRTS(True)
time.sleep(0.05)
self._port.flushInput()
self._port.setRTS(False)
verbose_print("Waiting for test runner startup...")
if not self._port.wait_line(lambda line: line == TESTRUNNER_BANNER):
raise TestRunnerError("Port %s failed to start test runner" % self._port)
def get_testlist(self):
""" Resets the test board and returns the enumerated list of all supported tests """
self.reset()
tests = []
verbose_print("Enumerating tests...")
def collect_testcases(line):
if line.startswith(">"):
return True # prompt means list of test cases is done, success
m = re.match(r"CASE (\d+) = (.+?) ([A-Z]+)", line)
if m is not None:
t = TestCase(int(m.group(1)), m.group(2), m.group(3).lower())
verbose_print(t)
tests.append(t)
if not self._port.wait_line(collect_testcases):
raise TestRunnerError("Port %s failed to read test list" % self._port)
verbose_print("Port %s found %d test cases" % (self._name, len(tests)))
return tests
def start_testcase(self, case):
""" Starts the specified test instance and returns an TestMonitor reader thread instance to monitor the output """
# synchronously start the test case
self.reset()
if not self._port.wait_line(lambda line: line.startswith(">")):
raise TestRunnerError("Failed to read test runnner prompt")
command = "%s%d\r\n" % (self._instance, case.index)
self._port.write(command.encode("utf-8"))
return TestMonitor(self._port, self._instance)
def get_testdir():
"""
Return the 'tests' directory in the source tree
(assuming the test_runner.py script is in that directory.
"""
res = os.path.dirname(__name__)
return "." if res == "" else res
def flash_image(serial_port):
# Bit hacky: rather than calling esptool directly, just use the Makefile flash target
# with the correct ESPPORT argument
env = dict(os.environ)
env["ESPPORT"] = serial_port
verbose_print("Building and flashing test image to %s..." % serial_port)
try:
stdout = sys.stdout if verbose else None
output = subprocess.run(["make","flash"], check=True, cwd=get_testdir(), stdout=stdout, stderr=subprocess.STDOUT, env=env)
except subprocess.CalledProcessError as e:
raise TestRunnerError("'make flash EPPORT=%s' failed with exit code %d" % (serial_port, e.returncode))
verbose_print("Flashing successful.")
def parse_args():
parser = argparse.ArgumentParser(description='esp-open-rtos testrunner', prog='test_runner')
parser.add_argument(
'--type', '-t',
help='Type of test hardware attached to serial ports A & (optionally) B',
choices=['solo','dual','eyore_test'], default='solo')
parser.add_argument(
'--aport', '-a',
help='Serial port for device A',
default='/dev/ttyUSB0')
parser.add_argument(
'--bport', '-b',
help='Serial port for device B (ignored if type is \'solo\')',
default='/dev/ttyUSB1')
parser.add_argument(
'--no-flash', '-n',
help='Don\'t flash the test binary image before running tests',
action='store_true',
default=False)
parser.add_argument(
'--verbose', '-v',
help='Verbose test runner debugging output',
action='store_true',
default=False)
parser.add_argument('testcases', nargs='*',
help='Optional list of test cases to run. By default, all tests are run.')
return parser.parse_args()
class TestRunnerError(RuntimeError):
def __init__(self, message):
RuntimeError.__init__(self, message)
class TestSerialPort(serial.Serial):
def __init__(self, *args, **kwargs):
super(TestSerialPort, self).__init__(*args, **kwargs)
def wait_line(self, callback, timeout = TEST_RESET_TIMEOUT):
""" Wait for the port to output a particular piece of line content, as judged by callback
Callback called as 'callback(line)' and returns not-True if non-match otherwise can return any value.
Returns first non-False result from the callback, or None if it timed out waiting for a new line.
Note that a serial port spewing legitimate lines of output may block this function forever, if callback
doesn't detect this is happening.
"""
self.timeout = timeout
try:
res = None
while not res:
line = self.readline()
if line == b"":
break # timed out
line = line.decode("utf-8", "ignore").rstrip()
res = callback(line)
return res
finally:
self.timeout = None
verbose = False
def verbose_print(msg):
if verbose:
print(msg)
if __name__ == '__main__':
try:
main()
except TestRunnerError as e:
print(e)
sys.exit(2)