Merge branch 'main' of https://github.com/Northeastern-Electric-Racing/Embedded-Base

Author: dnakhooda

NetX/inc/u_nx_debug.h

@@ -8,7 +8,7 @@
 /* This file contains NetX-specific debug helpers. */
 
 /* API */
-const char *nx_status_toString(UINT status); /* Converts a NetX status macro to a printable string. Meant to be used with DEBUG_PRINTLN() (defined in another file). */
+const char *nx_status_toString(UINT status); /* Converts a NetX status macro to a printable string. Meant to be used with PRINTLN_...() macros (defined in another file). */
 
 // clang-format on
 #endif /* u_nx_debug.h */

NetX/inc/u_nx_ethernet.h

@@ -8,6 +8,7 @@
 */
 
 #include <stdint.h>
+#include <stdbool.h>
 #include "nx_api.h"
 
 /* CONFIG */
@@ -27,6 +28,26 @@ typedef enum {
 	NODE8 = (1 << 7),   // 0b10000000
 } ethernet_node_t;
 #define ETH_IP(node) IP_ADDRESS(239, 0, 0, node)
+
+/* These node ids are ONLY relavent to PLCA configuration.
+   They are meant to be used when configuring a PHY. The IDs must be sequential, and the "0" id always indicates the network's coordinator node.
+   They have no impact on application-level IP addresses or message processing. 
+   
+   For example, if you're using the LAN8670 PHY driver, you'd probably use these enum values like this:
+   LAN8670_PLCA_Set_Node_Count(&lan8670, PLCA_NUM_NODES);
+   LAN8670_PLCA_Set_Node_Id(&lan8670, PLCA_VCU) // replace 'PLCA_VCU' with whatever board it is		
+   */
+typedef enum {
+	PLCA_VCU,		// 0. This is the PLCA coordinator node.
+	PLCA_COMPUTE,
+	PLCA_TPU,
+	PLCA_MSB1,
+	PLCA_MSB2,
+	PLCA_MSB3,
+	PLCA_MSB4,
+	PLCA_NODE8,
+	PLCA_NUM_NODES
+} plca_node_id_t;
 /* END CONFIG */
 
 typedef struct {

NetX/src/u_nx_debug.c

@@ -3,7 +3,7 @@
 // clang-format off
 
 /* Converts a NetX status macro to a printable string. */
-/* This function is intended to be used with DEBUG_PRINTLN(), and shouldn't really ever be used outside of debugging purposes. */
+/* This function is intended to be used with PRINTLN_...() macros, and shouldn't really ever be used outside of debugging purposes. */
 /* (these macros are defined in nx_api.h) */
 const char* nx_status_toString(UINT status) {
     switch(status) {

NetX/src/u_nx_ethernet.c

@@ -46,6 +46,25 @@ static void _receive_message(NX_UDP_SOCKET *socket) {
     /* Recieve the packet */
     status = nx_udp_socket_receive(socket, &packet, NX_NO_WAIT);
     if(status == NX_SUCCESS) {
+        PRINTLN_INFO("Recieved UDP socket!");
+
+        /* Get packet information (for debugging). */
+        ULONG ip_address;
+        UINT protocol;
+        UINT port;
+        UINT interface_index;
+        status = nx_udp_packet_info_extract(packet, &ip_address, &protocol, &port, &interface_index);
+        if(status != NX_SUCCESS) {
+            PRINTLN_WARNING("Failed to extract UDP packet information (Status: %d/%s).", status, nx_status_toString(status));
+        }
+        else {
+            uint8_t ip_address_byte1 = (ip_address >> 24) & 0xFF;
+            uint8_t ip_address_byte2 = (ip_address >> 16) & 0xFF;
+            uint8_t ip_address_byte3 = (ip_address >> 8) & 0xFF;
+            uint8_t ip_address_byte4 = ip_address & 0xFF;
+            PRINTLN_INFO("UDP Packet - IP: %d.%d.%d.%d, Port: %d, Protocol: %d, Interface: %d", ip_address_byte1, ip_address_byte2, ip_address_byte3, ip_address_byte4, port, protocol, interface_index);
+        }
+
         /* Extract message from packet */
         status = nx_packet_data_extract_offset(
             packet,                         // Packet to extract from
@@ -55,12 +74,12 @@ static void _receive_message(NX_UDP_SOCKET *socket) {
             &bytes_copied                   // Stores how many bytes were actually copied to &message
         );
         if(bytes_copied < sizeof(ethernet_message_t)) {
-            DEBUG_PRINTLN("WARNING: Received ethernet message was smaller than expected (only received %lu of %u expected bytes).", bytes_copied, sizeof(ethernet_message_t));
+            PRINTLN_WARNING("Received ethernet message was smaller than expected (only received %lu of %u expected bytes).", bytes_copied, sizeof(ethernet_message_t));
         }
 
         /* Process received message */
         if(status == NX_SUCCESS) {
-            DEBUG_PRINTLN("Received ethernet message! (Sender ID: %d, Message ID: %d).", message.sender_id, message.message_id);
+            PRINTLN_INFO("Received ethernet message! (Sender ID: %d, Message ID: %d).", message.sender_id, message.message_id);
             device.on_recieve(message);
         }
     }
@@ -77,7 +96,7 @@ uint8_t ethernet_init(ethernet_node_t node_id, DriverFunction driver, OnRecieve
 
     /* Make sure device isn't already initialized */
     if(device.is_initialized) {
-        DEBUG_PRINTLN("ERROR: Ethernet is already initialized.");
+        PRINTLN_ERROR("Ethernet is already initialized.");
         return U_ERROR;
     }
 
@@ -95,7 +114,7 @@ uint8_t ethernet_init(ethernet_node_t node_id, DriverFunction driver, OnRecieve
         _PACKET_POOL_SIZE           // Size of the pool's memory area
     );
     if(status != NX_SUCCESS) {
-        DEBUG_PRINTLN("ERROR: Failed to create packet pool (Status: %d/%s).", status, nx_status_toString(status));
+        PRINTLN_ERROR("Failed to create packet pool (Status: %d/%s).", status, nx_status_toString(status));
         return status;
     }
 
@@ -112,7 +131,7 @@ uint8_t ethernet_init(ethernet_node_t node_id, DriverFunction driver, OnRecieve
         _IP_THREAD_PRIORITY                  // Priority of the IP thread
     );
     if(status != NX_SUCCESS) {
-        DEBUG_PRINTLN("ERROR: Failed to create IP instance (Status: %d/%s).", status, nx_status_toString(status));
+        PRINTLN_ERROR("Failed to create IP instance (Status: %d/%s).", status, nx_status_toString(status));
         return status;
     }
 
@@ -123,22 +142,22 @@ uint8_t ethernet_init(ethernet_node_t node_id, DriverFunction driver, OnRecieve
         _ARP_CACHE_SIZE            // Size of ARP cache
     );
     if(status != NX_SUCCESS) {
-        DEBUG_PRINTLN("ERROR: Failed to enable ARP (Status: %d/%s).", status, nx_status_toString(status));
+        PRINTLN_ERROR("Failed to enable ARP (Status: %d/%s).", status, nx_status_toString(status));
         return status;
     }
 
 
     /* Enable UDP */
     status = nx_udp_enable(&device.ip);
     if (status != NX_SUCCESS) {
-        DEBUG_PRINTLN("ERROR: Failed to enable UDP (Status: %d/%s).", status, nx_status_toString(status));
+        PRINTLN_ERROR("Failed to enable UDP (Status: %d/%s).", status, nx_status_toString(status));
         return status;
     }
 
     /* Enable igmp */
     status = nx_igmp_enable(&device.ip);
     if (status != NX_SUCCESS) {
-        DEBUG_PRINTLN("ERROR: Failed to enable igmp (Status: %d/%s).", status, nx_status_toString(status));
+        PRINTLN_ERROR("Failed to enable igmp (Status: %d/%s).", status, nx_status_toString(status));
         return status;
     }
 
@@ -156,7 +175,7 @@ uint8_t ethernet_init(ethernet_node_t node_id, DriverFunction driver, OnRecieve
             ULONG address = ETH_IP(i);
             status = nx_igmp_multicast_join(&device.ip, address);
             if(status != NX_SUCCESS) {
-                DEBUG_PRINTLN("ERROR: Failed to join multicast group (Status: %d/%s, Address: %lu).", status, nx_status_toString(status), address);
+                PRINTLN_ERROR("Failed to join multicast group (Status: %d/%s, Address: %lu).", status, nx_status_toString(status), address);
             }
         }
     }
@@ -172,7 +191,7 @@ uint8_t ethernet_init(ethernet_node_t node_id, DriverFunction driver, OnRecieve
         _UDP_QUEUE_MAXIMUM          // UDP queue maximum
     );
     if(status != NX_SUCCESS) {
-        DEBUG_PRINTLN("ERROR: Failed to create UDP socket (Status: %d/%s).", status, nx_status_toString(status));
+        PRINTLN_ERROR("Failed to create UDP socket (Status: %d/%s).", status, nx_status_toString(status));
         return status;
     }
 
@@ -183,7 +202,7 @@ uint8_t ethernet_init(ethernet_node_t node_id, DriverFunction driver, OnRecieve
         TX_WAIT_FOREVER              // Wait forever
     );
     if(status != NX_SUCCESS) {
-        DEBUG_PRINTLN("ERROR: Failed to bind UDP socket (Status: %d/%s).", status, nx_status_toString(status));
+        PRINTLN_ERROR("Failed to bind UDP socket (Status: %d/%s).", status, nx_status_toString(status));
         nx_udp_socket_delete(&device.socket);
         return status;
     }
@@ -194,7 +213,7 @@ uint8_t ethernet_init(ethernet_node_t node_id, DriverFunction driver, OnRecieve
         &_receive_message             // Callback function
     );
     if(status != NX_SUCCESS) {
-        DEBUG_PRINTLN("ERROR: Failed to set recieve callback (Status: %d/%s).", status, nx_status_toString(status));
+        PRINTLN_ERROR("Failed to set recieve callback (Status: %d/%s).", status, nx_status_toString(status));
         nx_udp_socket_unbind(&device.socket);
         nx_udp_socket_delete(&device.socket);
         return status;
@@ -203,7 +222,7 @@ uint8_t ethernet_init(ethernet_node_t node_id, DriverFunction driver, OnRecieve
     /* Mark device as initialized. */
     device.is_initialized = true;
 
-    DEBUG_PRINTLN("Ran ethernet_init().");
+    PRINTLN_INFO("Ran ethernet_init().");
     return NX_SUCCESS;
 }
 
@@ -213,7 +232,7 @@ ethernet_message_t ethernet_create_message(uint8_t message_id, ethernet_node_t r
 
     /* Check data length */
     if (data_length > ETH_MESSAGE_SIZE) {
-        DEBUG_PRINTLN("ERROR: Data length exceeds maximum (message_id: %d).", message_id);
+        PRINTLN_ERROR("Data length exceeds maximum (message_id: %d).", message_id);
         return message; // Return empty message.
     }
 
@@ -234,13 +253,13 @@ uint8_t ethernet_send_message(ethernet_message_t *message) {
 
     /* Check if ethernet is initialized */
     if(!device.is_initialized) {
-        DEBUG_PRINTLN("ERROR: Ethernet device is not initialized, so ethernet_send_message() will not work.");
+        PRINTLN_ERROR("Ethernet device is not initialized, so ethernet_send_message() will not work.");
         return U_ERROR;
     }
 
     /* Check data length */
     if (message->data_length > ETH_MESSAGE_SIZE) {
-        DEBUG_PRINTLN("ERROR: Data length exceeds maximum (Message ID: %d).", message->message_id);
+        PRINTLN_ERROR("Data length exceeds maximum (Message ID: %d).", message->message_id);
         return U_ERROR;
     }
 
@@ -252,7 +271,7 @@ uint8_t ethernet_send_message(ethernet_message_t *message) {
         TX_WAIT_FOREVER             // Wait indefinitely until a packet is available
     );
     if(status != NX_SUCCESS) {
-        DEBUG_PRINTLN("ERROR: Failed to allocate packet (Status: %d/%s, Message ID: %d).", status, nx_status_toString(status), message->message_id);
+        PRINTLN_ERROR("Failed to allocate packet (Status: %d/%s, Message ID: %d).", status, nx_status_toString(status), message->message_id);
         return U_ERROR;
     }
 
@@ -265,7 +284,7 @@ uint8_t ethernet_send_message(ethernet_message_t *message) {
         TX_WAIT_FOREVER             // Wait indefinitely
     );
     if(status != NX_SUCCESS) {
-        DEBUG_PRINTLN("ERROR: Failed to append data to packet (Status: %d/%s, Message ID: %d).", status, nx_status_toString(status), message->message_id);
+        PRINTLN_ERROR("Failed to append data to packet (Status: %d/%s, Message ID: %d).", status, nx_status_toString(status), message->message_id);
         nx_packet_release(packet);
         return U_ERROR;
     }
@@ -278,12 +297,12 @@ uint8_t ethernet_send_message(ethernet_message_t *message) {
         ETH_UDP_PORT
     );
     if(status != NX_SUCCESS) {
-        DEBUG_PRINTLN("ERROR: Failed to send packet (Status: %d/%s, Message ID: %d).", status, nx_status_toString(status), message->message_id);
+        PRINTLN_ERROR("Failed to send packet (Status: %d/%s, Message ID: %d).", status, nx_status_toString(status), message->message_id);
         nx_packet_release(packet);
         return U_ERROR;
     }
 
-    DEBUG_PRINTLN("Sent ethernet message (Recipient ID: %d, Message ID: %d).", message->recipient_id, message->message_id);
+    PRINTLN_INFO("Sent ethernet message (Recipient ID: %d, Message ID: %d).", message->recipient_id, message->message_id);
     return U_SUCCESS;
 }
 // clang-format on

Testing/Makefile

@@ -0,0 +1,90 @@
+
+
+# Compiler
+CC := gcc
+
+# Project directories
+PROJECT_DIR := /home/app
+TEST_DIR := $(PROJECT_DIR)/Tests
+MOCKS_DIR := $(TEST_DIR)/Mocks
+TEST_BUILD := $(TEST_DIR)/build
+TEST_BUILD_BIN := $(TEST_BUILD)/bin
+UNITY_SRC := /cmock_portable/vendor/unity/src
+CMOCK_SRC := /cmock_portable/src
+EMEBEDDED_TESTING_DIR := Drivers/Embedded-Base/Testing
+
+# Command line variables (must be provided)
+TEST_NAME ?=
+TEST_FILE ?=
+TEST_PACKAGE ?=
+C_SOURCES ?=
+INCLUDE_DIRS ?=
+
+TEST_BUILD_OBJS := $(TEST_BUILD)/objs/$(TEST_PACKAGE)
+
+# Sanity check
+ifeq ($(TEST_NAME),)
+$(error You must define TEST_NAME)
+endif
+ifeq ($(TEST_FILE),)
+$(error You must define TEST_FILE)
+endif
+ifeq ($(TEST_PACKAGE),)
+$(error You must define TEST_PACKAGE)
+endif
+ifeq ($(C_SOURCES),)
+$(error You must define C_SOURCES)
+endif
+
+# Output executable
+TARGET := $(TEST_BUILD_BIN)/$(TEST_NAME)
+
+# Include dirs
+C_INCLUDES := \
+	-I$(EMEBEDDED_TESTING_DIR)/manual_mocks \
+	-I$(UNITY_SRC) \
+ 	-I$(CMOCK_SRC) \
+	$(addprefix -I,$(INCLUDE_DIRS)) \
+	-I$(MOCKS_DIR)/$(TEST_PACKAGE) \
+	-I$(TEST_DIR)/Inc 
+
+CFLAGS = -w -DTESTING $(C_INCLUDES)
+
+TEST_SOURCES = $(CMOCK_SRC)/cmock.c $(UNITY_SRC)/unity.c
+
+# All source files
+SOURCES := $(TEST_FILE) $(C_SOURCES)
+TEST_SRCS := $(TEST)/cmock.c $(UNITY_SRC)/unity.c
+
+# Object files
+OBJS := $(patsubst %.c,$(TEST_BUILD_OBJS)/%.o,$(SOURCES))
+TEST_OBJS := $(TEST_BUILD_OBJS)/cmock.o $(TEST_BUILD_OBJS)/unity.o
+
+ALL_OBJS := $(OBJS) $(TEST_OBJS)
+
+# Default target
+all: $(TARGET)
+
+# Link executable
+$(TARGET): $(ALL_OBJS)
+	@mkdir -p $(dir $@)
+	$(CC) $(CFLAGS) $^ -o $@  -lm
+
+# Compile object files
+$(TEST_BUILD_OBJS)/%.o: %.c
+	@mkdir -p $(dir $@)
+	$(CC) $(CFLAGS) -c $< -o $@ -lm
+
+$(TEST_BUILD_OBJS)/cmock.o: $(CMOCK_SRC)/cmock.c
+	@mkdir -p $(dir $@)
+	$(CC) $(CFLAGS) -c $< -o $@
+
+$(TEST_BUILD_OBJS)/unity.o: $(UNITY_SRC)/unity.c
+	@mkdir -p $(dir $@)
+	@echo "Compiling $< -> $@"
+	$(CC) $(CFLAGS) -c $< -o $@
+
+
+# Clean
+clean:
+	rm -rf $(TEST_BUILD)

Testing/cmock-config.yml

@@ -0,0 +1,11 @@
+
+:cmock:
+  :mock_prefix: mock_   
+  :includes:
+    - stubs.h
+  :plugins:
+    - :ignore
+    - :ignore_arg
+    - :callback
+    - :expect
+    - :expect_any_args

Testing/examples/Inc/test_example.h

@@ -0,0 +1,7 @@
+
+#ifndef _TEST_EXAMPLE_H
+#define _TEST_EXAMPLE_H
+
+#include "unity.h"
+
+#endif

Testing/examples/Src/test_example.c

@@ -0,0 +1,30 @@
+
+#include "test_example.h"
+#include <stdbool.h>
+#include <stdlib.h>
+
+// clang-format off
+
+// gets run before every test function
+void setUp(void) {
+    
+}
+
+// gets run after every test function
+void tearDown(void) {
+
+}
+
+// test function
+void test_exmaple(void) {
+    TEST_ASSERT_EQUAL_INT(9 + 10, 19); 
+}
+
+// run tests in main function
+int main(void) {
+    UNITY_BEGIN();
+    RUN_TEST(test_exmaple);
+    return UNITY_END();
+}
+
+// clang-format on