Merge pull request #211 from USU-Robosub/feature/SerialTests

Arduino / Bone Serial Tests

Tests/README.txt

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+In order to quickly test Arduino code without unpluging and repluging the
+Arduino, these tests have been writen to use PlatformIO. PlatformIO enables
+combiling and uploading Arduino code, directly from the terminal without ever
+leaving your chair.
+
+
+
+* Installing PlatformIO *
+
+In a Linux terminal, run the following commands:
+> python -c "$(curl -fsSL https://raw.githubusercontent.com/platformio/platformio/develop/scripts/get-platformio.py)"
+> python get-platformio.py
+
+To confirm PlatformIO is installed sucessfully, run:
+> platformio --help
+
+
+
+* Compiling and Uploading with PlatformIO *
+
+> # list serial ports
+> platformio serialports list
+
+> # upload code
+> platformio run -e due -t upload
+
+> # compile code
+> platformio run -e due
+
+
+
+* Running Tests *
+
+Step 1. Upload the corresponding Arduino code with PlatformIO (as needed)
+Step 2. Compile test w/dependencies:
+> g++ --std=c++11 Test_<name>.cpp [dependencies] -o run
+Step 3. Run the test:
+> ./run
+

Tests/SerialTest/PIO_ArduinoToBone/.gitignore

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+.pioenvs
+.piolibdeps

Tests/SerialTest/PIO_ArduinoToBone/.travis.yml

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+# Continuous Integration (CI) is the practice, in software
+# engineering, of merging all developer working copies with a shared mainline
+# several times a day < http://docs.platformio.org/page/ci/index.html >
+#
+# Documentation:
+#
+# * Travis CI Embedded Builds with PlatformIO
+#   < https://docs.travis-ci.com/user/integration/platformio/ >
+#
+# * PlatformIO integration with Travis CI
+#   < http://docs.platformio.org/page/ci/travis.html >
+#
+# * User Guide for `platformio ci` command
+#   < http://docs.platformio.org/page/userguide/cmd_ci.html >
+#
+#
+# Please choice one of the following templates (proposed below) and uncomment
+# it (remove "# " before each line) or use own configuration according to the
+# Travis CI documentation (see above).
+#
+
+
+#
+# Template #1: General project. Test it using existing `platformio.ini`.
+#
+
+# language: python
+# python:
+#     - "2.7"
+#
+# sudo: false
+# cache:
+#     directories:
+#         - "~/.platformio"
+#
+# install:
+#     - pip install -U platformio
+#
+# script:
+#     - platformio run
+
+
+#
+# Template #2: The project is intended to by used as a library with examples
+#
+
+# language: python
+# python:
+#     - "2.7"
+#
+# sudo: false
+# cache:
+#     directories:
+#         - "~/.platformio"
+#
+# env:
+#     - PLATFORMIO_CI_SRC=path/to/test/file.c
+#     - PLATFORMIO_CI_SRC=examples/file.ino
+#     - PLATFORMIO_CI_SRC=path/to/test/directory
+#
+# install:
+#     - pip install -U platformio
+#
+# script:
+#     - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N

Tests/SerialTest/PIO_ArduinoToBone/lib/readme.txt

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+
+This directory is intended for the project specific (private) libraries.
+PlatformIO will compile them to static libraries and link to executable file.
+
+The source code of each library should be placed in separate directory, like
+"lib/private_lib/[here are source files]".
+
+For example, see how can be organized `Foo` and `Bar` libraries:
+
+|--lib
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |- readme.txt --> THIS FILE
+|- platformio.ini
+|--src
+   |- main.c
+
+Then in `src/main.c` you should use:
+
+#include <Foo.h>
+#include <Bar.h>
+
+// rest H/C/CPP code
+
+PlatformIO will find your libraries automatically, configure preprocessor's
+include paths and build them.
+
+More information about PlatformIO Library Dependency Finder
+- http://docs.platformio.org/page/librarymanager/ldf.html

Tests/SerialTest/PIO_ArduinoToBone/platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; http://docs.platformio.org/page/projectconf.html
+
+[env:uno]
+platform = atmelavr
+framework = arduino
+board = uno
+
+[env:due]
+platform = atmelsam
+framework = arduino
+board = due

Tests/SerialTest/PIO_ArduinoToBone/src/Arduino.ino

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+#include <Arduino.h>
+#include "SerialTools.h"
+
+#define B115200 115200
+#define GARBAGE 0
+
+void setup() {
+    Serial.begin(B115200);
+    SerialTools::writeString("Ready!", 6);
+    while((!Serial.available())||(Serial.read()==GARBAGE));
+
+    int test = 0x0A0B0C0D;
+    SerialTools::writeData((char*)&test, 4);
+    SerialTools::writeByte(0xFF);
+    SerialTools::writeFloat(0.1F);
+    SerialTools::writeDouble(0.2);
+    SerialTools::writeInt(-3);
+    SerialTools::writeUInt(4);
+    SerialTools::writeShort(-5);
+    SerialTools::writeUShort(6);
+}
+
+void loop() { }

Tests/SerialTest/PIO_ArduinoToBone/src/SerialTools.h

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+/**
+ * Created by TekuConcept on 8/3/2016.
+ */
+#ifndef SERIAL_TOOLS_H
+#define SERIAL_TOOLS_H
+
+/**
+ * Extend the functionality of the Serial object,
+ * providing various useful type value streams.
+ */
+class SerialTools{
+public:
+
+  /* - - - - - - - - - - - - - - - - - - - - - - - - - - *\
+   *                    READ FUNCTIONS                   *
+  \* - - - - - - - - - - - - - - - - - - - - - - - - - - */
+
+  /* reading strings is not yet implemented here */
+  static uint8_t readByte() {
+    uint8_t result = 0;
+    readData((char*)&result, sizeof(uint8_t));
+    return result;
+  }
+
+  static float readFloat() {
+    float result = 0;
+    readData((char*)&result, sizeof(float));
+    return result;
+  }
+
+  static double readDouble() {
+    double result = 0;
+    readData((char*)&result, sizeof(double));
+    return result;
+  }
+
+  static int32_t readInt() {
+    int result = 0;
+    readData((char*)&result, sizeof(int32_t));
+    return result;
+  }
+
+  static uint32_t readUInt() {
+    uint32_t result = 0;
+    readData((char*)&result, sizeof(uint32_t));
+    return result;
+  }
+
+  static int16_t readShort() {
+    int16_t result = 0;
+    readData((char*)&result, sizeof(int16_t));
+    return result;
+  }
+
+  static uint16_t readUShort() {
+    uint16_t result = 0;
+    readData((char*)&result, sizeof(uint16_t));
+    return result;
+  }
+
+  static void readData(char* ptr, int size) {
+    while(Serial.available() < size);
+    for(int i = 0; i < size; i++) {
+      ptr[i] = Serial.read();
+    }
+  }
+
+  /* - - - - - - - - - - - - - - - - - - - - - - - - - - *\
+   *                   WRITE FUNCTIONS                   *
+  \* - - - - - - - - - - - - - - - - - - - - - - - - - - */
+
+  /**
+   * Writes a null-terminated string to the Serial's
+   * out buffer.
+   */
+  static void writeString(const char* data, int size) {
+    for(int i = 0; i < size; i++) {
+      Serial.print(data[i]);
+    }
+    Serial.print('\0');
+  }
+
+  static void writeByte(uint8_t out) {
+    writeData((char*)&out, sizeof(uint8_t));
+  }
+
+  static void writeFloat(float out) {
+    writeData((char*)&out, sizeof(float));
+  }
+
+  static void writeDouble(double out) {
+    writeData((char*)&out, sizeof(double));
+  }
+
+  static void writeInt(int32_t out) {
+    writeData((char*)&out, sizeof(int32_t));
+  }
+
+  static void writeUInt(uint32_t out) {
+    writeData((char*)&out, sizeof(uint32_t));
+  }
+
+  static void writeShort(int16_t out) {
+    writeData((char*)&out, sizeof(int16_t));
+  }
+
+  static void writeUShort(uint16_t out) {
+    writeData((char*)&out, sizeof(uint16_t));
+  }
+
+  static void writeData(char* ptr, int size) {
+    for(int i = 0; i < size; i++){
+      // #ifdef DEBUG
+      //   printHex((uint8_t)ptr[i]);
+      // #else
+        Serial.print(ptr[i]);
+      // #endif
+    }
+  }
+
+  static void printHex(uint8_t c) {
+    printHexChar((uint8_t)((c&0xF0) >> 4));
+    printHexChar((uint8_t)(c&0x0F));
+  }
+
+private:
+  SerialTools(){}
+  static void printHexChar(uint8_t val) {
+    char res = '0';
+    if(val < 10)
+      Serial.print(val);
+    else
+      switch(val-10) {
+        case 0: res = 'A'; break;
+        case 1: res = 'B'; break;
+        case 2: res = 'C'; break;
+        case 3: res = 'D'; break;
+        case 4: res = 'E'; break;
+        case 5: res = 'F'; break;
+      }
+      Serial.print(res);
+  }
+};
+
+#endif

Tests/SerialTest/PIO_BoneToArduino/.gitignore

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+.pioenvs
+.piolibdeps