bricks/virtualhub: Build on CI without libusb.

Also add local test scripts and launch configs.

Author: laurensvalk

.vscode/launch.json

@@ -61,7 +61,7 @@
             "console":"integratedTerminal"
         },
         {
-            "name": "virtualhub",
+            "name": "virtualhub (no bluetooth)",
             "type": "cppdbg",
             "request": "launch",
             "program": "${workspaceFolder}/bricks/virtualhub/build-debug/firmware.elf",
@@ -70,6 +70,38 @@
             ],
             "stopAtEntry": false,
             "cwd": "${workspaceFolder}",
+            "environment": [
+                {
+                    "name": "PBIO_TEST_CONNECT_SOCKET",
+                    "value": "true"
+                },
+            ],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description": "Ignore timer signal",
+                    "text": "handle SIG34 noprint pass",
+                    "ignoreFailures": false
+                }
+            ],
+            "preLaunchTask": "build virtualhub (debug)"
+        },
+        {
+            "name": "virtualhub (UB500_INDEX=0)",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/bricks/virtualhub/build-debug/firmware.elf",
+            "args": [
+                "${workspaceFolder}/tests/bluetooth/virtual0.py",
+            ],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}",
             "environment": [
                 {
                     "name": "PBIO_TEST_CONNECT_SOCKET",
@@ -96,6 +128,42 @@
             ],
             "preLaunchTask": "build virtualhub (debug)"
         },
+        {
+            "name": "virtualhub (UB500_INDEX=1)",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/bricks/virtualhub/build-debug/firmware.elf",
+            "args": [
+                "${workspaceFolder}/tests/bluetooth/virtual1.py",
+            ],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}",
+            "environment": [
+                {
+                    "name": "PBIO_TEST_CONNECT_SOCKET",
+                    "value": "true"
+                },
+                {
+                    "name": "UB500_INDEX",
+                    "value": "1"
+                }
+            ],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description": "Ignore timer signal",
+                    "text": "handle SIG34 noprint pass",
+                    "ignoreFailures": false
+                }
+            ],
+            "preLaunchTask": "build virtualhub (debug)"
+        },
         {
             "name": "test-pbio",
             "type": "cppdbg",

bricks/_common/common.mk

@@ -134,9 +134,11 @@ INC += -I$(PBTOP)/lib/btstack/chipset/bcm
 INC += -I$(PBTOP)/lib/btstack/chipset/intel
 INC += -I$(PBTOP)/lib/btstack/chipset/realtek
 INC += -I$(PBTOP)/lib/btstack/chipset/zephyr
+ifneq ($(CI_MODE),1)
 INC += $(shell pkg-config libusb-1.0 --cflags)
 endif
 endif
+endif
 ifeq ($(PB_LIB_LSM6DS3TR_C),1)
 INC += -I$(PBTOP)/lib/lsm6ds3tr_c_STdC/driver
 endif
@@ -167,6 +169,10 @@ TEXT0_ADDR ?= 0x08000000
 ifeq ($(PB_MCU_FAMILY),native)
 UNAME_S := $(shell uname -s)
 LD = $(CC)
+ifeq ($(CI_MODE),1)
+COPT = -DPBDRV_CONFIG_RUN_ON_CI
+else
+endif
 CFLAGS += $(INC) -Wall -Werror -Wdouble-promotion -Wfloat-conversion -std=gnu99 $(COPT) -D_GNU_SOURCE
 ifeq ($(UNAME_S),Linux)
 LDFLAGS += -Wl,-Map=$@.map,--cref -Wl,--gc-sections
@@ -175,8 +181,10 @@ LDFLAGS += -Wl,-map,$@.map -Wl,-dead_strip
 endif
 LIBS = -lm
 ifeq ($(PB_LIB_BTSTACK),lowenergy)
+ifneq ($(CI_MODE),1)
 LIBS += $(shell pkg-config libusb-1.0 --libs)
 endif
+endif
 else # end native, begin embedded
 CROSS_COMPILE ?= arm-none-eabi-
 ifeq ($(PB_MCU_FAMILY),STM32)
@@ -562,15 +570,19 @@ OBJ += $(addprefix $(BUILD)/, $(BLE5STACK_SRC_C:.c=.o))
 endif
 
 ifeq ($(PB_LIB_BTSTACK),classic)
+ifneq ($(CI_MODE),1)
 OBJ += $(addprefix $(BUILD)/, $(BTSTACK_SRC_C:.c=.o))
 $(BUILD)/lib/btstack/%.o: CFLAGS += -Wno-error
 endif
+endif
 
 ifeq ($(PB_LIB_BTSTACK),lowenergy)
+ifneq ($(CI_MODE),1)
 OBJ += $(addprefix $(BUILD)/, $(BTSTACK_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(BTSTACK_BLE_SRC_C:.c=.o))
 $(BUILD)/lib/btstack/%.o: CFLAGS += -Wno-error
 endif
+endif
 
 ifeq ($(PB_LIB_STM32_HAL),1)
 OBJ += $(addprefix $(BUILD)/, $(STM32_HAL_SRC_C:.c=.o))

test-virtualhub.sh

@@ -23,7 +23,7 @@ BUILD_DIR="$BRICK_DIR/$BUILD_DIR_NAME"
 PBIO_DIR="$SCRIPT_DIR/lib/pbio"
 
 make mpy-cross -j
-make -s -j $(nproc --all) -C "$BRICK_DIR" BUILD="$BUILD_DIR_NAME" COPT=-DPBDRV_CONFIG_RUN_ON_CI
+make -s -j $(nproc --all) -C "$BRICK_DIR" BUILD="$BUILD_DIR_NAME" CI_MODE=1
 
 export MICROPY_MICROPYTHON="$BUILD_DIR/firmware.elf"
 

tests/bluetooth/virtual0.py

@@ -0,0 +1,11 @@
+from pybricks.hubs import VirtualHub
+from pybricks.tools import wait
+
+hub = VirtualHub(broadcast_channel=123)
+
+for i in range(99):
+    hub.ble.broadcast(["Hello", i])
+    wait(100)
+
+hub.ble.broadcast(b"STOP")
+wait(500)

tests/bluetooth/virtual1.py

@@ -0,0 +1,13 @@
+from pybricks.hubs import VirtualHub
+
+hub = VirtualHub(observe_channels=[123])
+
+data = ()
+
+while data != b"STOP":
+    new = hub.ble.observe(123)
+    if new == data:
+        continue
+
+    data = new
+    print(data)

tests/virtualhub/basics/hello.py

@@ -1,8 +1,4 @@
-from pybricks.tools import wait, AppData
-
-app = AppData("<bb")
-
-app.write_bytes(b"BOO")
+from pybricks.tools import wait
 
 print("\nHello")
 wait(1000)