Progress towards a better application FSM, testing

.gitlab-ci.yml

@@ -13,7 +13,8 @@ main_mcu:
   script:
   - cd firmware/main_mcu/
   - cp src/config-example.h src/config.h
-  - pio run
+  - pio run -e button-debug -e button-release -e button-debug -e button-timing
+  - pio test -e native
 lowpower_mcu:
   stage: build
   script:

firmware/main_mcu/lib/app_lib/src/DebounceFsm.cpp

@@ -0,0 +1,55 @@
+#include "DebounceFsm.h"
+
+DebounceFsm::DebounceFsm(Clock &clock,
+                        GpioInput &input,
+                        unsigned int debounce_millis,
+                        const bool active_value,
+                        const std::function<void()> &on_activate,
+                        const std::function<void()> &on_deactivate) :
+    Fsm(inactive),
+    timer(Timer(clock)),
+    input(input),
+    debounce_millis(debounce_millis),
+    inactive(*this, to_active, !active_value),
+    active(*this, to_inactive, active_value),
+    to_inactive(*this, on_deactivate, !active_value, active, inactive),
+    to_active(*this, on_activate, active_value, inactive, active)
+{}
+
+
+DebounceFsm::SteadyState::SteadyState(DebounceFsm &fsm, State &next_state, bool steadyPinValue) :
+    fsm(fsm),
+    next_state(next_state),
+    steadyPinValue(steadyPinValue)
+{}
+
+void DebounceFsm::SteadyState::step() {
+    if (fsm.input.read() != steadyPinValue) {
+        fsm.transition(next_state);
+    }
+}
+
+DebounceFsm::Debouncing::Debouncing(DebounceFsm &fsm,
+                       std::function<void()> callback,
+                       bool to_pin_value,
+                       State &previous_state,
+                       State &next_state) :
+    fsm(fsm),
+    callback(callback),
+    to_pin_value(to_pin_value),
+    previous_state(previous_state),
+    next_state(next_state)
+{}
+
+void DebounceFsm::Debouncing::onEntry() {
+    fsm.timer.start();
+}
+
+void DebounceFsm::Debouncing::step() {
+    if (fsm.input.read() != to_pin_value) {
+        fsm.transition(previous_state);
+    } else if (fsm.timer.getRuntime() >= fsm.debounce_millis) {
+        callback();
+        fsm.transition(next_state);
+    }
+}

firmware/main_mcu/lib/app_lib/src/DebounceFsm.h

@@ -0,0 +1,56 @@
+#pragma once
+
+#include <functional>
+
+#include "Fsm.h"
+#include "Timer.h"
+#include "Gpio.h"
+
+class DebounceFsm : public Fsm {
+
+    public:
+        DebounceFsm(Clock &clock,
+                    GpioInput &input,
+                    unsigned int debouce_millis,
+                    const bool active_value,
+                    const std::function<void()> &on_activate,
+                    const std::function<void()> &on_deactivate);
+
+    private:
+        class SteadyState : public State {
+            public:
+                SteadyState(DebounceFsm &fsm, State &next_state, bool steadyPinValue);
+                virtual void step() override;
+            private:
+                DebounceFsm &fsm;
+                State &next_state;
+                const bool steadyPinValue;
+        };
+
+        class Debouncing : public State {
+            public:
+                Debouncing(DebounceFsm &fsm,
+                           std::function<void()> callback,
+                           bool to_pin_value,
+                           State &previous_state,
+                           State &next_state);
+
+                virtual void onEntry() override;
+                virtual void step() override;
+
+            private:
+                DebounceFsm &fsm;
+                std::function<void()> callback;
+                const int to_pin_value;
+                State &previous_state;
+                State &next_state;
+        };
+
+        Timer timer;
+        GpioInput &input;
+        const unsigned int debounce_millis;
+        SteadyState inactive;
+        SteadyState active;
+        Debouncing to_inactive;
+        Debouncing to_active;
+};

firmware/main_mcu/lib/generic_lib/ArduinoGpio.cpp

@@ -0,0 +1,23 @@
+#include "ArduinoGpio.h"
+
+#ifdef ARDUINO
+
+#include "Arduino.h"
+
+ArduinoGpioInput::ArduinoGpioInput(uint8_t pin) :
+    pin(pin)
+{}
+
+bool ArduinoGpioInput::read() {
+    return digitalRead(pin);
+}
+
+ArduinoGpioOutput::ArduinoGpioOutput(uint8_t pin) :
+    pin(pin)
+{}
+
+void ArduinoGpioOutput::write(bool value) {
+    digitalWrite(pin, value);
+}
+
+#endif

firmware/main_mcu/lib/generic_lib/src/ArduinoClock.cpp

@@ -0,0 +1,13 @@
+#include "ArduinoClock.h"
+
+#ifdef ARDUINO
+
+#include "Arduino.h"
+
+ArduinoClock::ArduinoClock() {}
+
+uint32_t ArduinoClock::getMillis() {
+    return getMillis();
+}
+
+#endif

firmware/main_mcu/lib/generic_lib/src/ArduinoClock.h

@@ -0,0 +1,12 @@
+#pragma once
+
+#include "Clock.h"
+#ifdef ARDUINO
+
+class ArduinoClock : public Clock {
+    public:
+        ArduinoClock();
+        uint32_t getMillis() override;
+};
+
+#endif

firmware/main_mcu/lib/generic_lib/src/ArduinoGpio.cpp

@@ -0,0 +1,23 @@
+#include "ArduinoGpio.h"
+
+#ifdef ARDUINO
+
+#include "Arduino.h"
+
+ArduinoGpioInput::ArduinoGpioInput(uint8_t pin) :
+    pin(pin)
+{}
+
+bool ArduinoGpioInput::read() {
+    return digitalRead(pin);
+}
+
+ArduinoGpioOutput::ArduinoGpioOutput(uint8_t pin) :
+    pin(pin)
+{}
+
+void ArduinoGpioOutput::write(bool value) {
+    digitalWrite(pin, value);
+}
+
+#endif

firmware/main_mcu/lib/generic_lib/src/ArduinoGpio.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#include "Gpio.h"
+#include <stdint.h>
+
+#ifdef ARDUINO
+
+class ArduinoGpioInput : public GpioInput {
+    public:
+        ArduinoGpioInput(uint8_t pin_number);
+        virtual bool read() override;
+    private:
+        const uint8_t pin;
+};
+
+class ArduinoGpioOutput : public GpioOutput {
+    public:
+        ArduinoGpioOutput(uint8_t pin_number);
+        virtual void write(bool value) override;
+    private:
+        const uint8_t pin;
+};
+
+#endif

firmware/main_mcu/lib/generic_lib/src/Clock.h

@@ -0,0 +1,8 @@
+#pragma once
+
+#include <stdint.h>
+
+class Clock {
+    public:
+        virtual uint32_t getMillis() = 0;
+};

firmware/main_mcu/lib/generic_lib/src/Fsm.cpp

@@ -0,0 +1,15 @@
+#include "Fsm.h"
+
+Fsm::Fsm(State &initialState) :
+    current_state(&initialState)
+{}
+
+void Fsm::transition(State &state) {
+    current_state->onExit();
+    current_state = &state;
+    current_state->onEntry();
+}
+
+void Fsm::step() {
+    current_state->step();
+}

firmware/main_mcu/lib/generic_lib/src/Fsm.h

@@ -0,0 +1,28 @@
+#pragma once
+
+class State {
+
+    public:
+        virtual void step() {};
+        virtual void onEntry() {};
+        virtual void onExit() {};
+};
+
+class Transition {
+    public:
+        Transition(State &toState) {}
+        virtual bool evalutate() = 0;
+};
+
+class Fsm {
+
+    protected:
+        Fsm(State &initialState);
+        void transition(State &state);
+
+    public:
+        void step();
+
+    private:
+        State *current_state;
+};

firmware/main_mcu/lib/generic_lib/src/Gpio.h

@@ -0,0 +1,11 @@
+#pragma once
+
+class GpioInput {
+    public:
+        virtual bool read() = 0;
+};
+
+class GpioOutput {
+    public:
+        virtual void write(bool value) = 0;
+};

firmware/main_mcu/lib/generic_lib/src/Timer.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include "Clock.h"
+
+class Timer {
+    public:
+
+        Timer(Clock &clock)
+            : clock(clock)
+            , start_time(0)
+        {}
+
+        void start() {
+            start_time = clock.getMillis();
+        }
+
+        uint32_t getRuntime() {
+            return start_time - clock.getMillis();
+        }
+
+    private:
+        Clock &clock;
+        uint32_t start_time;
+
+};

firmware/main_mcu/platformio.ini

@@ -9,15 +9,7 @@
 ; https://docs.platformio.org/page/projectconf.html
 
 [env]
-platform = espressif8266
-framework = arduino
-board = esp12e
-lib_deps = 
-	knolleary/PubSubClient@^2.8.0
-	bblanchon/ArduinoJson@^6.17.2
-upload_speed = 115200
 src_filter =
-    ;; Default filter
 	+<*>
 	-<.git/>
 	-<.svn/>
@@ -25,13 +17,46 @@ src_filter =
 	-<examples/>
 	-<test/>
 	-<tests/>
-	;; Don't compile until the user adds their own config
 	-<src/config-example.h>
 
 [env:button-release]
+platform = espressif8266
+framework = arduino
+board = esp12e
+lib_ldf_mode = deep+ ;; Required for Platformio to identify some transitive dependencies of AutoConnect
+lib_deps =
+	knolleary/PubSubClient@^2.8.0
+	bblanchon/ArduinoJson@^6.17.2
+	hieromon/AutoConnect@^1.2.2
+upload_speed = 115200
 
 [env:button-timing]
+platform = espressif8266
+framework = arduino
+board = esp12e
+lib_ldf_mode = deep+ ;; Required for Platformio to identify some transitive dependencies of AutoConnect
+lib_deps =
+	knolleary/PubSubClient@^2.8.0
+	bblanchon/ArduinoJson@^6.17.2
+	hieromon/AutoConnect@^1.2.2
+upload_speed = 115200
 build_flags = -D DEBUG_SKETCH_TIMING
 
 [env:button-debug]
+platform = espressif8266
+framework = arduino
+board = esp12e
+lib_ldf_mode = deep+ ;; Required for Platformio to identify some transitive dependencies of AutoConnect
+lib_deps =
+	knolleary/PubSubClient@^2.8.0
+	bblanchon/ArduinoJson@^6.17.2
+	hieromon/AutoConnect@^1.2.2
+upload_speed = 115200
 build_flags = -D DEBUG_SKETCH
+
+[env:native]
+platform = native
+lib_compat_mode = off ;; Otherwise, the private libs aren't included.
+build_flags = -pthread ;; Required for googletest
+lib_deps =
+     google/googletest @ ^1.10.0

firmware/main_mcu/src/ButtonApplication.cpp

@@ -0,0 +1,23 @@
+#include "Fsm.h"
+
+class ButtonApplication : Fsm {
+
+    class ReadConfigValuesState : public State {
+        public:
+            ReadConfigValuesState(ButtonApplication &fsm) :
+                fsm(fsm)
+            {}
+
+            void onEntry() override {
+
+            }
+
+            void step() override {
+
+            }
+
+        private:
+            ButtonApplication &fsm;
+    } read_config_values_state {*this};
+
+};

firmware/main_mcu/src/main.cpp

@@ -3,9 +3,12 @@
 #include <PubSubClient.h>
 #include <Wire.h>
 
+#include "ArduinoGpio.h"
 #include "config.h"
 #include "mqtt.h"
 #include "util.h"
+#include "DebounceFsm.h"
+#include "ArduinoClock.h"
 
 #define BTN_PIN D0
 #define RED_LED_PIN 4
@@ -17,6 +20,10 @@
 static WiFiClient wifiClient;
 static PubSubClient mqttClient;
 
+static ArduinoClock main_clock;
+static ArduinoGpioInput button_input(BTN_PIN);
+static DebounceFsm button_fsm(main_clock, button_input, 50, true, [](){}, [](){});
+
 void blink(int pin, int times, int onMillis, int offMillis) {
     // for (int i = 0; i < times; i++) {
     //     digitalWrite(pin, HIGH);
@@ -111,6 +118,23 @@ void setup() {
     ESP.deepSleep(0, RFMode::RF_NO_CAL);
 }
 
+enum ApplicationState {
+    READ_CONFIG_VALUES,
+    INIT_WIFI_CONFIG_SERVER,
+    INIT_WIFI_CLIENT,
+    INIT_MQTT,
+    RUN_WIFI_CONFIG_SERVER,
+    READ_SENSOR,
+    PUBLISH_MQTT,
+    SLEEP,
+} app_state;
+
+enum SensorState {
+   INIT_BUS,
+   REQUESTING_STATUS,
+   DONE,
+} sensor_state;
+
 void loop() {
 
 }

firmware/main_mcu/test/test_local/DebounceFsmTest.cpp

@@ -0,0 +1,79 @@
+#include "DebounceFsm.h"
+#include "gtest/gtest.h"
+#include "gmock/gmock.h"
+
+using ::testing::Test;
+using ::testing::Return;
+
+class MockClock : public Clock {
+    public:
+        MOCK_METHOD(uint32_t, getMillis, ());
+};
+
+class MockGpioInput : public GpioInput {
+    public:
+        MOCK_METHOD(bool, read, ());
+};
+
+
+class DebounceFsmTest : public Test {
+    protected:
+
+        DebounceFsmTest() :
+            clock(),
+            gpioInput(),
+            activated(false),
+            deactivated(false)
+        {}
+        ~DebounceFsmTest() {}
+
+        static const unsigned int DEBOUNCE_MILLIS = 100;
+        static const bool ACTIVE_VALUE = true;
+        MockClock clock;
+        MockGpioInput gpioInput;
+
+        bool activated;
+        bool deactivated;
+
+        void SetUp() override {
+            fsm = new DebounceFsm(
+                clock,
+                gpioInput,
+                DEBOUNCE_MILLIS,
+                ACTIVE_VALUE,
+                [this](){activated = true;},
+                [this](){deactivated = true;});
+            ON_CALL(clock, getMillis()).WillByDefault(Return(0));
+            ON_CALL(gpioInput, read()).WillByDefault(Return(!ACTIVE_VALUE));
+            activated = false;
+            deactivated = false;
+        }
+
+        void TearDown() override {
+            fsm = nullptr;
+        }
+
+        DebounceFsm *fsm;
+};
+
+TEST_F(DebounceFsmTest, Noop) {
+
+    EXPECT_CALL(clock, getMillis()).WillOnce(Return(0));
+    EXPECT_CALL(gpioInput, read()).WillOnce(Return(ACTIVE_VALUE));
+    fsm->step();
+    EXPECT_EQ(false, activated);
+    EXPECT_EQ(false, deactivated);
+
+    EXPECT_CALL(clock, getMillis()).WillOnce(Return(DEBOUNCE_MILLIS));
+    EXPECT_CALL(gpioInput, read()).WillOnce(Return(ACTIVE_VALUE));
+    fsm->step();
+    EXPECT_EQ(true, activated);
+    EXPECT_EQ(false, deactivated);
+
+
+}
+
+int main(int argc, char** argv) {
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}