fwt_software/tests/test_mcuenv.cpp

#include <doctest/doctest.h>

#include "fgc/Config.h"
#include "fgc/TelemetryParser.h"
#include "fgc/sensors/McuEnvSensor.h"

#include <cstdio>
#include <fstream>
#include <stdexcept>
#include <string>

using namespace fgc;

namespace {

// Only latestEnv() matters here; the rest is the minimum the interface demands.
struct EnvOnlyMotor : IMotorController {
    std::optional<McuEnvReading> env;
    void           start() override {}
    void           stop() override {}
    void           sendCommand(const std::string&) override {}
    MotorTelemetry telemetry() override { return {}; }
    std::string    lastDump() override { return ""; }
    std::string    lastDiag() override { return ""; }
    unsigned       diagSeq() const override { return 0; }
    bool           connected() const override { return true; }
    std::optional<McuEnvReading> latestEnv() const override { return env; }
};

McuEnvReading reading(int t, int h, bool ok, int fan, int rpm, long long at) {
    McuEnvReading r;
    r.temp_c = t; r.humidity = h; r.sensor_ok = ok; r.fan_duty = fan; r.fan_rpm = rpm;
    r.epoch_ms = at;
    return r;
}

}  // namespace

TEST_CASE("an ENV line from the firmware parses, keys in any order") {
    auto r = parseEnvLine("ENV t=23 h=45 ok=1 fan=0 rpm=0");
    REQUIRE(r);
    CHECK(r->temp_c == 23);
    CHECK(r->humidity == 45);
    CHECK(r->sensor_ok);
    CHECK(r->fan_duty == 0);
    r = parseEnvLine("ENV rpm=1180 fan=255 ok=0 h=51 t=-4");
    REQUIRE(r);
    CHECK(r->temp_c == -4);
    CHECK_FALSE(r->sensor_ok);
    CHECK(r->fan_duty == 255);
    CHECK(r->fan_rpm == 1180);
}

TEST_CASE("anything that is not a whole ENV line is not a reading") {
    CHECK_FALSE(parseEnvLine("ST Y:A,1,2,0,0,0,0,S"));
    CHECK_FALSE(parseEnvLine("DUMP ENV t=23 h=45 ok=1"));   // the dump's copy, handled there
    CHECK_FALSE(parseEnvLine("ENV t=23 h=45"));             // no ok: cannot tell good from bad
    CHECK_FALSE(parseEnvLine("ENV t=2x h=45 ok=1"));
}

TEST_CASE("the MCU sensor serves a fresh good reading, and nothing else") {
    EnvOnlyMotor motor;
    long long    now = 1'000'000;
    McuEnvSensor s(motor, [&] { return now; });

    CHECK_FALSE(s.sample());                        // no ENV line yet
    motor.env = reading(24, 40, true, 0, 0, now);
    auto v = s.sample();
    REQUIRE(v);
    CHECK(v->temp_c == doctest::Approx(24.0));
    CHECK(v->humidity_pct == doctest::Approx(40.0));
    CHECK(s.connected());
    CHECK(s.name() == "DHT11");

    SUBCASE("a failed read is not served as a reading") {
        motor.env = reading(24, 40, false, 255, 0, now);
        CHECK_FALSE(s.sample());
    }
    SUBCASE("a line older than 2.5 read periods is stale") {
        now += McuEnvSensor::kStaleMs + 1;
        CHECK_FALSE(s.sample());
        CHECK_FALSE(s.connected());
    }
}

TEST_CASE("a fan driven hard with no rpm looks stalled; idle or turning does not") {
    CHECK(fanLooksStalled(reading(30, 40, true, 200, 0, 0)));
    CHECK(fanLooksStalled(reading(0, 0, false, 255, 0, 0)));     // the failsafe, not turning
    CHECK_FALSE(fanLooksStalled(reading(20, 40, true, 0, 0, 0)));   // off, as it should be
    CHECK_FALSE(fanLooksStalled(reading(30, 40, true, 100, 0, 0))); // too slow to be sure
    CHECK_FALSE(fanLooksStalled(reading(30, 40, true, 200, 900, 0)));
}

TEST_CASE("hardware.ini: cooling needs the DHT11, and only 'fan' or 'none'") {
    const std::string cfg_path = "test_mcuenv_config.ini";
    const std::string hw_path  = "test_mcuenv_hardware.ini";
    {
        std::ofstream c(cfg_path);
        c << "[General]\ntower_name = Legacy\n[Camera.rgb]\nid = X\nprofile_dir = /tmp/p\n";
    }
    auto write_hw = [&](const std::string& hardware, const std::string& pins) {
        std::ofstream h(hw_path);
        h << "[Board]\nmodel = lattepanda-3-delta\nfirmware_env = leonardo\n"
             "[Hardware]\naxes = yaw\nimu = none\ncameras = rgb\n" << hardware <<
             "[Pins]\nyaw_cs = 8\nyaw_en = 7\n" << pins;
    };

    SUBCASE("a legacy tower loads, with its MCU pins") {
        write_hw("env = dht11\ncooling = fan\n",
                 "dht = 9\nfan_pwm = 10\nfan_tach = 11\nspi_idle_cs = 2\n");
        auto c = ConfigLoader::loadFromFile(cfg_path, hw_path);
        CHECK(c.hardware.env == "dht11");
        CHECK(c.hardware.cooling == "fan");
        CHECK(c.hardware.pins.dht == 9);
        CHECK(c.hardware.pins.fan_tach == 11);
        CHECK(c.hardware.pins.spi_idle_cs == 2);
    }
    SUBCASE("a fan without the DHT11 is refused") {
        write_hw("env = sht41\ncooling = fan\n", "fan_pwm = 10\n");
        CHECK_THROWS_WITH_AS(ConfigLoader::loadFromFile(cfg_path, hw_path),
                             doctest::Contains("needs Hardware.env = dht11"), std::runtime_error);
    }
    SUBCASE("an unknown cooling is refused") {
        write_hw("env = dht11\ncooling = water\n", "dht = 9\n");
        CHECK_THROWS_WITH_AS(ConfigLoader::loadFromFile(cfg_path, hw_path),
                             doctest::Contains("'none' or 'fan'"), std::runtime_error);
    }
    SUBCASE("towers without it are unchanged") {
        write_hw("env = sht41\n", "");
        auto c = ConfigLoader::loadFromFile(cfg_path, hw_path);
        CHECK(c.hardware.cooling.empty());
        CHECK(c.hardware.pins.dht == -1);
    }
    std::remove(cfg_path.c_str());
    std::remove(hw_path.c_str());
}