summaryrefslogtreecommitdiff
path: root/quantum/serial_link/tests
diff options
context:
space:
mode:
Diffstat (limited to 'quantum/serial_link/tests')
-rw-r--r--quantum/serial_link/tests/Makefile61
-rw-r--r--quantum/serial_link/tests/byte_stuffer_tests.cpp483
-rw-r--r--quantum/serial_link/tests/frame_router_tests.cpp229
-rw-r--r--quantum/serial_link/tests/frame_validator_tests.cpp115
-rw-r--r--quantum/serial_link/tests/rules.mk22
-rw-r--r--quantum/serial_link/tests/testlist.mk6
-rw-r--r--quantum/serial_link/tests/transport_tests.cpp188
-rw-r--r--quantum/serial_link/tests/triple_buffered_object_tests.cpp84
8 files changed, 1188 insertions, 0 deletions
diff --git a/quantum/serial_link/tests/Makefile b/quantum/serial_link/tests/Makefile
new file mode 100644
index 0000000000..1b072c6f1d
--- /dev/null
+++ b/quantum/serial_link/tests/Makefile
@@ -0,0 +1,61 @@
+# The MIT License (MIT)
+#
+# Copyright (c) 2016 Fred Sundvik
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+CC = gcc
+CFLAGS =
+INCLUDES = -I. -I../../
+LDFLAGS = -L$(BUILDDIR)/cgreen/build-c/src -shared
+LDLIBS = -lcgreen
+UNITOBJ = $(BUILDDIR)/serialtest/unitobj
+DEPDIR = $(BUILDDIR)/serialtest/unit.d
+UNITTESTS = $(BUILDDIR)/serialtest/unittests
+DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPDIR)/$*.Td
+EXT = .so
+UNAME := $(shell uname)
+ifneq (, $(findstring MINGW, $(UNAME)))
+ EXT = .dll
+endif
+ifneq (, $(findstring CYGWIN, $(UNAME)))
+ EXT = .dll
+endif
+
+SRC = $(wildcard *.c)
+TESTFILES = $(patsubst %.c, $(UNITTESTS)/%$(EXT), $(SRC))
+$(shell mkdir -p $(DEPDIR) >/dev/null)
+
+test: $(TESTFILES)
+ @$(BUILDDIR)/cgreen/build-c/tools/cgreen-runner --color $(TESTFILES)
+
+$(UNITTESTS)/%$(EXT): $(UNITOBJ)/%.o
+ @mkdir -p $(UNITTESTS)
+ $(CC) $(LDFLAGS) -o $@ $^ $(LDLIBS)
+
+$(UNITOBJ)/%.o : %.c
+$(UNITOBJ)/%.o: %.c $(DEPDIR)/%.d
+ @mkdir -p $(UNITOBJ)
+ $(CC) $(CFLAGS) $(DEPFLAGS) $(INCLUDES) -c $< -o $@
+ @mv -f $(DEPDIR)/$*.Td $(DEPDIR)/$*.d
+
+$(DEPDIR)/%.d: ;
+.PRECIOUS: $(DEPDIR)/%.d
+
+-include $(patsubst %,$(DEPDIR)/%.d,$(basename $(SRC))) \ No newline at end of file
diff --git a/quantum/serial_link/tests/byte_stuffer_tests.cpp b/quantum/serial_link/tests/byte_stuffer_tests.cpp
new file mode 100644
index 0000000000..ff49d727bb
--- /dev/null
+++ b/quantum/serial_link/tests/byte_stuffer_tests.cpp
@@ -0,0 +1,483 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 Fred Sundvik
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#include "gtest/gtest.h"
+#include "gmock/gmock.h"
+#include <vector>
+#include <algorithm>
+extern "C" {
+#include "serial_link/protocol/byte_stuffer.h"
+#include "serial_link/protocol/frame_validator.h"
+#include "serial_link/protocol/physical.h"
+}
+
+using testing::_;
+using testing::ElementsAreArray;
+using testing::Args;
+
+class ByteStuffer : public ::testing::Test{
+public:
+ ByteStuffer() {
+ Instance = this;
+ init_byte_stuffer();
+ }
+
+ ~ByteStuffer() {
+ Instance = nullptr;
+ }
+
+ MOCK_METHOD3(validator_recv_frame, void (uint8_t link, uint8_t* data, uint16_t size));
+
+ void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
+ std::copy(data, data + size, std::back_inserter(sent_data));
+ }
+ std::vector<uint8_t> sent_data;
+
+ static ByteStuffer* Instance;
+};
+
+ByteStuffer* ByteStuffer::Instance = nullptr;
+
+extern "C" {
+ void validator_recv_frame(uint8_t link, uint8_t* data, uint16_t size) {
+ ByteStuffer::Instance->validator_recv_frame(link, data, size);
+ }
+
+ void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
+ ByteStuffer::Instance->send_data(link, data, size);
+ }
+}
+
+TEST_F(ByteStuffer, receives_no_frame_for_a_single_zero_byte) {
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .Times(0);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+TEST_F(ByteStuffer, receives_no_frame_for_a_single_FF_byte) {
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .Times(0);
+ byte_stuffer_recv_byte(0, 0xFF);
+}
+
+TEST_F(ByteStuffer, receives_no_frame_for_a_single_random_byte) {
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .Times(0);
+ byte_stuffer_recv_byte(0, 0x4A);
+}
+
+TEST_F(ByteStuffer, receives_no_frame_for_a_zero_length_frame) {
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .Times(0);
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+TEST_F(ByteStuffer, receives_single_byte_valid_frame) {
+ uint8_t expected[] = {0x37};
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 0x37);
+ byte_stuffer_recv_byte(0, 0);
+}
+TEST_F(ByteStuffer, receives_three_bytes_valid_frame) {
+ uint8_t expected[] = {0x37, 0x99, 0xFF};
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ byte_stuffer_recv_byte(0, 4);
+ byte_stuffer_recv_byte(0, 0x37);
+ byte_stuffer_recv_byte(0, 0x99);
+ byte_stuffer_recv_byte(0, 0xFF);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+TEST_F(ByteStuffer, receives_single_zero_valid_frame) {
+ uint8_t expected[] = {0};
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+TEST_F(ByteStuffer, receives_valid_frame_with_zeroes) {
+ uint8_t expected[] = {5, 0, 3, 0};
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 5);
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 3);
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+
+TEST_F(ByteStuffer, receives_two_valid_frames) {
+ uint8_t expected1[] = {5, 0};
+ uint8_t expected2[] = {3};
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected1)));
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected2)));
+ byte_stuffer_recv_byte(1, 2);
+ byte_stuffer_recv_byte(1, 5);
+ byte_stuffer_recv_byte(1, 1);
+ byte_stuffer_recv_byte(1, 0);
+ byte_stuffer_recv_byte(1, 2);
+ byte_stuffer_recv_byte(1, 3);
+ byte_stuffer_recv_byte(1, 0);
+}
+
+TEST_F(ByteStuffer, receives_valid_frame_after_unexpected_zero) {
+ uint8_t expected[] = {5, 7};
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ byte_stuffer_recv_byte(1, 3);
+ byte_stuffer_recv_byte(1, 1);
+ byte_stuffer_recv_byte(1, 0);
+ byte_stuffer_recv_byte(1, 3);
+ byte_stuffer_recv_byte(1, 5);
+ byte_stuffer_recv_byte(1, 7);
+ byte_stuffer_recv_byte(1, 0);
+}
+
+TEST_F(ByteStuffer, receives_valid_frame_after_unexpected_non_zero) {
+ uint8_t expected[] = {5, 7};
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 9);
+ byte_stuffer_recv_byte(0, 4); // This should have been zero
+ byte_stuffer_recv_byte(0, 0);
+ byte_stuffer_recv_byte(0, 3);
+ byte_stuffer_recv_byte(0, 5);
+ byte_stuffer_recv_byte(0, 7);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+TEST_F(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_and_then_end_of_frame) {
+ uint8_t expected[254];
+ int i;
+ for (i=0;i<254;i++) {
+ expected[i] = i + 1;
+ }
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ byte_stuffer_recv_byte(0, 0xFF);
+ for (i=0;i<254;i++) {
+ byte_stuffer_recv_byte(0, i+1);
+ }
+ byte_stuffer_recv_byte(0, 0);
+}
+
+TEST_F(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_next_byte_is_non_zero) {
+ uint8_t expected[255];
+ int i;
+ for (i=0;i<254;i++) {
+ expected[i] = i + 1;
+ }
+ expected[254] = 7;
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ byte_stuffer_recv_byte(0, 0xFF);
+ for (i=0;i<254;i++) {
+ byte_stuffer_recv_byte(0, i+1);
+ }
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 7);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+TEST_F(ByteStuffer, receives_a_valid_frame_with_over254_non_zeroes_next_byte_is_zero) {
+ uint8_t expected[255];
+ int i;
+ for (i=0;i<254;i++) {
+ expected[i] = i + 1;
+ }
+ expected[254] = 0;
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ byte_stuffer_recv_byte(0, 0xFF);
+ for (i=0;i<254;i++) {
+ byte_stuffer_recv_byte(0, i+1);
+ }
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+TEST_F(ByteStuffer, receives_two_long_frames_and_some_more) {
+ uint8_t expected[515];
+ int i;
+ int j;
+ for (j=0;j<2;j++) {
+ for (i=0;i<254;i++) {
+ expected[i+254*j] = i + 1;
+ }
+ }
+ for (i=0;i<7;i++) {
+ expected[254*2+i] = i + 1;
+ }
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ byte_stuffer_recv_byte(0, 0xFF);
+ for (i=0;i<254;i++) {
+ byte_stuffer_recv_byte(0, i+1);
+ }
+ byte_stuffer_recv_byte(0, 0xFF);
+ for (i=0;i<254;i++) {
+ byte_stuffer_recv_byte(0, i+1);
+ }
+ byte_stuffer_recv_byte(0, 8);
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 3);
+ byte_stuffer_recv_byte(0, 4);
+ byte_stuffer_recv_byte(0, 5);
+ byte_stuffer_recv_byte(0, 6);
+ byte_stuffer_recv_byte(0, 7);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+TEST_F(ByteStuffer, receives_an_all_zeros_frame_that_is_maximum_size) {
+ uint8_t expected[MAX_FRAME_SIZE] = {};
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ int i;
+ byte_stuffer_recv_byte(0, 1);
+ for(i=0;i<MAX_FRAME_SIZE;i++) {
+ byte_stuffer_recv_byte(0, 1);
+ }
+ byte_stuffer_recv_byte(0, 0);
+}
+
+TEST_F(ByteStuffer, doesnt_recv_a_frame_thats_too_long_all_zeroes) {
+ uint8_t expected[1] = {0};
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .Times(0);
+ int i;
+ byte_stuffer_recv_byte(0, 1);
+ for(i=0;i<MAX_FRAME_SIZE;i++) {
+ byte_stuffer_recv_byte(0, 1);
+ }
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+TEST_F(ByteStuffer, received_frame_is_aborted_when_its_too_long) {
+ uint8_t expected[1] = {1};
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ int i;
+ byte_stuffer_recv_byte(0, 1);
+ for(i=0;i<MAX_FRAME_SIZE;i++) {
+ byte_stuffer_recv_byte(0, 1);
+ }
+ byte_stuffer_recv_byte(0, 2);
+ byte_stuffer_recv_byte(0, 1);
+ byte_stuffer_recv_byte(0, 0);
+}
+
+TEST_F(ByteStuffer, does_nothing_when_sending_zero_size_frame) {
+ EXPECT_EQ(sent_data.size(), 0);
+ byte_stuffer_send_frame(0, NULL, 0);
+}
+
+TEST_F(ByteStuffer, send_one_byte_frame) {
+ uint8_t data[] = {5};
+ byte_stuffer_send_frame(1, data, 1);
+ uint8_t expected[] = {2, 5, 0};
+ EXPECT_THAT(sent_data, ElementsAreArray(expected));
+}
+
+TEST_F(ByteStuffer, sends_two_byte_frame) {
+ uint8_t data[] = {5, 0x77};
+ byte_stuffer_send_frame(0, data, 2);
+ uint8_t expected[] = {3, 5, 0x77, 0};
+ EXPECT_THAT(sent_data, ElementsAreArray(expected));
+}
+
+TEST_F(ByteStuffer, sends_one_byte_frame_with_zero) {
+ uint8_t data[] = {0};
+ byte_stuffer_send_frame(0, data, 1);
+ uint8_t expected[] = {1, 1, 0};
+ EXPECT_THAT(sent_data, ElementsAreArray(expected));
+}
+
+TEST_F(ByteStuffer, sends_two_byte_frame_starting_with_zero) {
+ uint8_t data[] = {0, 9};
+ byte_stuffer_send_frame(1, data, 2);
+ uint8_t expected[] = {1, 2, 9, 0};
+ EXPECT_THAT(sent_data, ElementsAreArray(expected));
+}
+
+TEST_F(ByteStuffer, sends_two_byte_frame_starting_with_non_zero) {
+ uint8_t data[] = {9, 0};
+ byte_stuffer_send_frame(1, data, 2);
+ uint8_t expected[] = {2, 9, 1, 0};
+ EXPECT_THAT(sent_data, ElementsAreArray(expected));
+}
+
+TEST_F(ByteStuffer, sends_three_byte_frame_zero_in_the_middle) {
+ uint8_t data[] = {9, 0, 0x68};
+ byte_stuffer_send_frame(0, data, 3);
+ uint8_t expected[] = {2, 9, 2, 0x68, 0};
+ EXPECT_THAT(sent_data, ElementsAreArray(expected));
+}
+
+TEST_F(ByteStuffer, sends_three_byte_frame_data_in_the_middle) {
+ uint8_t data[] = {0, 0x55, 0};
+ byte_stuffer_send_frame(0, data, 3);
+ uint8_t expected[] = {1, 2, 0x55, 1, 0};
+ EXPECT_THAT(sent_data, ElementsAreArray(expected));
+}
+
+TEST_F(ByteStuffer, sends_three_byte_frame_with_all_zeroes) {
+ uint8_t data[] = {0, 0, 0};
+ byte_stuffer_send_frame(0, data, 3);
+ uint8_t expected[] = {1, 1, 1, 1, 0};
+ EXPECT_THAT(sent_data, ElementsAreArray(expected));
+}
+
+TEST_F(ByteStuffer, sends_frame_with_254_non_zeroes) {
+ uint8_t data[254];
+ int i;
+ for(i=0;i<254;i++) {
+ data[i] = i + 1;
+ }
+ byte_stuffer_send_frame(0, data, 254);
+ uint8_t expected[256];
+ expected[0] = 0xFF;
+ for(i=1;i<255;i++) {
+ expected[i] = i;
+ }
+ expected[255] = 0;
+ EXPECT_THAT(sent_data, ElementsAreArray(expected));
+}
+
+TEST_F(ByteStuffer, sends_frame_with_255_non_zeroes) {
+ uint8_t data[255];
+ int i;
+ for(i=0;i<255;i++) {
+ data[i] = i + 1;
+ }
+ byte_stuffer_send_frame(0, data, 255);
+ uint8_t expected[258];
+ expected[0] = 0xFF;
+ for(i=1;i<255;i++) {
+ expected[i] = i;
+ }
+ expected[255] = 2;
+ expected[256] = 255;
+ expected[257] = 0;
+ EXPECT_THAT(sent_data, ElementsAreArray(expected));
+}
+
+TEST_F(ByteStuffer, sends_frame_with_254_non_zeroes_followed_by_zero) {
+ uint8_t data[255];
+ int i;
+ for(i=0;i<254;i++) {
+ data[i] = i + 1;
+ }
+ data[254] = 0;
+ byte_stuffer_send_frame(0, data, 255);
+ uint8_t expected[258];
+ expected[0] = 0xFF;
+ for(i=1;i<255;i++) {
+ expected[i] = i;
+ }
+ expected[255] = 1;
+ expected[256] = 1;
+ expected[257] = 0;
+ EXPECT_THAT(sent_data, ElementsAreArray(expected));
+}
+
+TEST_F(ByteStuffer, sends_and_receives_full_roundtrip_small_packet) {
+ uint8_t original_data[] = { 1, 2, 3};
+ byte_stuffer_send_frame(0, original_data, sizeof(original_data));
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(original_data)));
+ int i;
+ for(auto& d : sent_data) {
+ byte_stuffer_recv_byte(1, d);
+ }
+}
+
+TEST_F(ByteStuffer, sends_and_receives_full_roundtrip_small_packet_with_zeros) {
+ uint8_t original_data[] = { 1, 0, 3, 0, 0, 9};
+ byte_stuffer_send_frame(1, original_data, sizeof(original_data));
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(original_data)));
+ int i;
+ for(auto& d : sent_data) {
+ byte_stuffer_recv_byte(1, d);
+ }
+}
+
+TEST_F(ByteStuffer, sends_and_receives_full_roundtrip_254_bytes) {
+ uint8_t original_data[254];
+ int i;
+ for(i=0;i<254;i++) {
+ original_data[i] = i + 1;
+ }
+ byte_stuffer_send_frame(0, original_data, sizeof(original_data));
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(original_data)));
+ for(auto& d : sent_data) {
+ byte_stuffer_recv_byte(1, d);
+ }
+}
+
+TEST_F(ByteStuffer, sends_and_receives_full_roundtrip_256_bytes) {
+ uint8_t original_data[256];
+ int i;
+ for(i=0;i<254;i++) {
+ original_data[i] = i + 1;
+ }
+ original_data[254] = 22;
+ original_data[255] = 23;
+ byte_stuffer_send_frame(0, original_data, sizeof(original_data));
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(original_data)));
+ for(auto& d : sent_data) {
+ byte_stuffer_recv_byte(1, d);
+ }
+}
+
+TEST_F(ByteStuffer, sends_and_receives_full_roundtrip_254_bytes_and_then_zero) {
+ uint8_t original_data[255];
+ int i;
+ for(i=0;i<254;i++) {
+ original_data[i] = i + 1;
+ }
+ original_data[254] = 0;
+ byte_stuffer_send_frame(0, original_data, sizeof(original_data));
+ EXPECT_CALL(*this, validator_recv_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(original_data)));
+ for(auto& d : sent_data) {
+ byte_stuffer_recv_byte(1, d);
+ }
+}
diff --git a/quantum/serial_link/tests/frame_router_tests.cpp b/quantum/serial_link/tests/frame_router_tests.cpp
new file mode 100644
index 0000000000..2bd5bf830d
--- /dev/null
+++ b/quantum/serial_link/tests/frame_router_tests.cpp
@@ -0,0 +1,229 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 Fred Sundvik
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#include "gtest/gtest.h"
+#include "gmock/gmock.h"
+#include <array>
+extern "C" {
+ #include "serial_link/protocol/transport.h"
+ #include "serial_link/protocol/byte_stuffer.h"
+ #include "serial_link/protocol/frame_router.h"
+}
+
+using testing::_;
+using testing::ElementsAreArray;
+using testing::Args;
+
+class FrameRouter : public testing::Test {
+public:
+ FrameRouter() :
+ current_router_buffer(nullptr)
+ {
+ Instance = this;
+ init_byte_stuffer();
+ }
+
+ ~FrameRouter() {
+ Instance = nullptr;
+ }
+
+ void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
+ auto& buffer = current_router_buffer->send_buffers[link];
+ std::copy(data, data + size, std::back_inserter(buffer));
+ }
+
+ void receive_data(uint8_t link, uint8_t* data, uint16_t size) {
+ int i;
+ for(i=0;i<size;i++) {
+ byte_stuffer_recv_byte(link, data[i]);
+ }
+ }
+
+ void activate_router(uint8_t num) {
+ current_router_buffer = router_buffers + num;
+ router_set_master(num==0);
+ }
+
+ void simulate_transport(uint8_t from, uint8_t to) {
+ activate_router(to);
+ if (from > to) {
+ receive_data(DOWN_LINK,
+ router_buffers[from].send_buffers[UP_LINK].data(),
+ router_buffers[from].send_buffers[UP_LINK].size());
+ }
+ else if(to > from) {
+ receive_data(UP_LINK,
+ router_buffers[from].send_buffers[DOWN_LINK].data(),
+ router_buffers[from].send_buffers[DOWN_LINK].size());
+ }
+ }
+
+ MOCK_METHOD3(transport_recv_frame, void (uint8_t from, uint8_t* data, uint16_t size));
+
+ std::vector<uint8_t> received_data;
+
+ struct router_buffer {
+ std::vector<uint8_t> send_buffers[2];
+ };
+
+ router_buffer router_buffers[8];
+ router_buffer* current_router_buffer;
+
+ static FrameRouter* Instance;
+};
+
+FrameRouter* FrameRouter::Instance = nullptr;
+
+
+typedef struct {
+ std::array<uint8_t, 4> data;
+ uint8_t extra[16];
+} frame_buffer_t;
+
+
+extern "C" {
+ void send_data(uint8_t link, const uint8_t* data, uint16_t size) {
+ FrameRouter::Instance->send_data(link, data, size);
+ }
+
+
+ void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size) {
+ FrameRouter::Instance->transport_recv_frame(from, data, size);
+ }
+}
+
+TEST_F(FrameRouter, master_broadcast_is_received_by_everyone) {
+ frame_buffer_t data;
+ data.data = {0xAB, 0x70, 0x55, 0xBB};
+ activate_router(0);
+ router_send_frame(0xFF, (uint8_t*)&data, 4);
+ EXPECT_GT(router_buffers[0].send_buffers[DOWN_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[0].send_buffers[UP_LINK].size(), 0);
+ EXPECT_CALL(*this, transport_recv_frame(0, _, _))
+ .With(Args<1, 2>(ElementsAreArray(data.data)));
+ simulate_transport(0, 1);
+ EXPECT_GT(router_buffers[1].send_buffers[DOWN_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[1].send_buffers[UP_LINK].size(), 0);
+
+ EXPECT_CALL(*this, transport_recv_frame(0, _, _))
+ .With(Args<1, 2>(ElementsAreArray(data.data)));
+ simulate_transport(1, 2);
+ EXPECT_GT(router_buffers[2].send_buffers[DOWN_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[2].send_buffers[UP_LINK].size(), 0);
+}
+
+TEST_F(FrameRouter, master_send_is_received_by_targets) {
+ frame_buffer_t data;
+ data.data = {0xAB, 0x70, 0x55, 0xBB};
+ activate_router(0);
+ router_send_frame((1 << 1) | (1 << 2), (uint8_t*)&data, 4);
+ EXPECT_GT(router_buffers[0].send_buffers[DOWN_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[0].send_buffers[UP_LINK].size(), 0);
+
+ simulate_transport(0, 1);
+ EXPECT_GT(router_buffers[1].send_buffers[DOWN_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[1].send_buffers[UP_LINK].size(), 0);
+
+ EXPECT_CALL(*this, transport_recv_frame(0, _, _))
+ .With(Args<1, 2>(ElementsAreArray(data.data)));
+ simulate_transport(1, 2);
+ EXPECT_GT(router_buffers[2].send_buffers[DOWN_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[2].send_buffers[UP_LINK].size(), 0);
+
+ EXPECT_CALL(*this, transport_recv_frame(0, _, _))
+ .With(Args<1, 2>(ElementsAreArray(data.data)));
+ simulate_transport(2, 3);
+ EXPECT_GT(router_buffers[3].send_buffers[DOWN_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[3].send_buffers[UP_LINK].size(), 0);
+}
+
+TEST_F(FrameRouter, first_link_sends_to_master) {
+ frame_buffer_t data;
+ data.data = {0xAB, 0x70, 0x55, 0xBB};
+ activate_router(1);
+ router_send_frame(0, (uint8_t*)&data, 4);
+ EXPECT_GT(router_buffers[1].send_buffers[UP_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[1].send_buffers[DOWN_LINK].size(), 0);
+
+ EXPECT_CALL(*this, transport_recv_frame(1, _, _))
+ .With(Args<1, 2>(ElementsAreArray(data.data)));
+ simulate_transport(1, 0);
+ EXPECT_EQ(router_buffers[0].send_buffers[DOWN_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[0].send_buffers[UP_LINK].size(), 0);
+}
+
+TEST_F(FrameRouter, second_link_sends_to_master) {
+ frame_buffer_t data;
+ data.data = {0xAB, 0x70, 0x55, 0xBB};
+ activate_router(2);
+ router_send_frame(0, (uint8_t*)&data, 4);
+ EXPECT_GT(router_buffers[2].send_buffers[UP_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[2].send_buffers[DOWN_LINK].size(), 0);
+
+ simulate_transport(2, 1);
+ EXPECT_GT(router_buffers[1].send_buffers[UP_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[1].send_buffers[DOWN_LINK].size(), 0);
+
+ EXPECT_CALL(*this, transport_recv_frame(2, _, _))
+ .With(Args<1, 2>(ElementsAreArray(data.data)));
+ simulate_transport(1, 0);
+ EXPECT_EQ(router_buffers[0].send_buffers[DOWN_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[0].send_buffers[UP_LINK].size(), 0);
+}
+
+TEST_F(FrameRouter, master_sends_to_master_does_nothing) {
+ frame_buffer_t data;
+ data.data = {0xAB, 0x70, 0x55, 0xBB};
+ activate_router(0);
+ router_send_frame(0, (uint8_t*)&data, 4);
+ EXPECT_EQ(router_buffers[0].send_buffers[UP_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[0].send_buffers[DOWN_LINK].size(), 0);
+}
+
+TEST_F(FrameRouter, link_sends_to_other_link_does_nothing) {
+ frame_buffer_t data;
+ data.data = {0xAB, 0x70, 0x55, 0xBB};
+ activate_router(1);
+ router_send_frame(2, (uint8_t*)&data, 4);
+ EXPECT_EQ(router_buffers[1].send_buffers[UP_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[1].send_buffers[DOWN_LINK].size(), 0);
+}
+
+TEST_F(FrameRouter, master_receives_on_uplink_does_nothing) {
+ frame_buffer_t data;
+ data.data = {0xAB, 0x70, 0x55, 0xBB};
+ activate_router(1);
+ router_send_frame(0, (uint8_t*)&data, 4);
+ EXPECT_GT(router_buffers[1].send_buffers[UP_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[1].send_buffers[DOWN_LINK].size(), 0);
+
+ EXPECT_CALL(*this, transport_recv_frame(_, _, _))
+ .Times(0);
+ activate_router(0);
+ receive_data(UP_LINK,
+ router_buffers[1].send_buffers[UP_LINK].data(),
+ router_buffers[1].send_buffers[UP_LINK].size());
+ EXPECT_EQ(router_buffers[0].send_buffers[UP_LINK].size(), 0);
+ EXPECT_EQ(router_buffers[0].send_buffers[DOWN_LINK].size(), 0);
+}
diff --git a/quantum/serial_link/tests/frame_validator_tests.cpp b/quantum/serial_link/tests/frame_validator_tests.cpp
new file mode 100644
index 0000000000..9223af83b0
--- /dev/null
+++ b/quantum/serial_link/tests/frame_validator_tests.cpp
@@ -0,0 +1,115 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 Fred Sundvik
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#include "gtest/gtest.h"
+#include "gmock/gmock.h"
+extern "C" {
+#include "serial_link/protocol/frame_validator.h"
+}
+
+using testing::_;
+using testing::ElementsAreArray;
+using testing::Args;
+
+class FrameValidator : public testing::Test {
+public:
+ FrameValidator() {
+ Instance = this;
+ }
+
+ ~FrameValidator() {
+ Instance = nullptr;
+ }
+
+ MOCK_METHOD3(route_incoming_frame, void (uint8_t link, uint8_t* data, uint16_t size));
+ MOCK_METHOD3(byte_stuffer_send_frame, void (uint8_t link, uint8_t* data, uint16_t size));
+
+ static FrameValidator* Instance;
+};
+
+FrameValidator* FrameValidator::Instance = nullptr;
+
+extern "C" {
+void route_incoming_frame(uint8_t link, uint8_t* data, uint16_t size) {
+ FrameValidator::Instance->route_incoming_frame(link, data, size);
+}
+
+void byte_stuffer_send_frame(uint8_t link, uint8_t* data, uint16_t size) {
+ FrameValidator::Instance->byte_stuffer_send_frame(link, data, size);
+}
+}
+
+TEST_F(FrameValidator, doesnt_validate_frames_under_5_bytes) {
+ EXPECT_CALL(*this, route_incoming_frame(_, _, _))
+ .Times(0);
+ uint8_t data[] = {1, 2};
+ validator_recv_frame(0, 0, 1);
+ validator_recv_frame(0, data, 2);
+ validator_recv_frame(0, data, 3);
+ validator_recv_frame(0, data, 4);
+}
+
+TEST_F(FrameValidator, validates_one_byte_frame_with_correct_crc) {
+ uint8_t data[] = {0x44, 0x04, 0x6A, 0xB3, 0xA3};
+ EXPECT_CALL(*this, route_incoming_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(data, 1)));
+ validator_recv_frame(0, data, 5);
+}
+
+TEST_F(FrameValidator, does_not_validate_one_byte_frame_with_incorrect_crc) {
+ uint8_t data[] = {0x44, 0, 0, 0, 0};
+ EXPECT_CALL(*this, route_incoming_frame(_, _, _))
+ .Times(0);
+ validator_recv_frame(1, data, 5);
+}
+
+TEST_F(FrameValidator, validates_four_byte_frame_with_correct_crc) {
+ uint8_t data[] = {0x44, 0x10, 0xFF, 0x00, 0x74, 0x4E, 0x30, 0xBA};
+ EXPECT_CALL(*this, route_incoming_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(data, 4)));
+ validator_recv_frame(1, data, 8);
+}
+
+TEST_F(FrameValidator, validates_five_byte_frame_with_correct_crc) {
+ uint8_t data[] = {1, 2, 3, 4, 5, 0xF4, 0x99, 0x0B, 0x47};
+ EXPECT_CALL(*this, route_incoming_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(data, 5)));
+ validator_recv_frame(0, data, 9);
+}
+
+TEST_F(FrameValidator, sends_one_byte_with_correct_crc) {
+ uint8_t original[] = {0x44, 0, 0, 0, 0};
+ uint8_t expected[] = {0x44, 0x04, 0x6A, 0xB3, 0xA3};
+ EXPECT_CALL(*this, byte_stuffer_send_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ validator_send_frame(0, original, 1);
+}
+
+TEST_F(FrameValidator, sends_five_bytes_with_correct_crc) {
+ uint8_t original[] = {1, 2, 3, 4, 5, 0, 0, 0, 0};
+ uint8_t expected[] = {1, 2, 3, 4, 5, 0xF4, 0x99, 0x0B, 0x47};
+ EXPECT_CALL(*this, byte_stuffer_send_frame(_, _, _))
+ .With(Args<1, 2>(ElementsAreArray(expected)));
+ validator_send_frame(0, original, 5);
+}
diff --git a/quantum/serial_link/tests/rules.mk b/quantum/serial_link/tests/rules.mk
new file mode 100644
index 0000000000..b81515bc55
--- /dev/null
+++ b/quantum/serial_link/tests/rules.mk
@@ -0,0 +1,22 @@
+serial_link_byte_stuffer_SRC :=\
+ $(SERIAL_PATH)/tests/byte_stuffer_tests.cpp \
+ $(SERIAL_PATH)/protocol/byte_stuffer.c
+
+serial_link_frame_validator_SRC := \
+ $(SERIAL_PATH)/tests/frame_validator_tests.cpp \
+ $(SERIAL_PATH)/protocol/frame_validator.c
+
+serial_link_frame_router_SRC := \
+ $(SERIAL_PATH)/tests/frame_router_tests.cpp \
+ $(SERIAL_PATH)/protocol/byte_stuffer.c \
+ $(SERIAL_PATH)/protocol/frame_validator.c \
+ $(SERIAL_PATH)/protocol/frame_router.c
+
+serial_link_triple_buffered_object_SRC := \
+ $(SERIAL_PATH)/tests/triple_buffered_object_tests.cpp \
+ $(SERIAL_PATH)/protocol/triple_buffered_object.c
+
+serial_link_transport_SRC := \
+ $(SERIAL_PATH)/tests/transport_tests.cpp \
+ $(SERIAL_PATH)/protocol/transport.c \
+ $(SERIAL_PATH)/protocol/triple_buffered_object.c
diff --git a/quantum/serial_link/tests/testlist.mk b/quantum/serial_link/tests/testlist.mk
new file mode 100644
index 0000000000..a80e888849
--- /dev/null
+++ b/quantum/serial_link/tests/testlist.mk
@@ -0,0 +1,6 @@
+TEST_LIST +=\
+ serial_link_byte_stuffer\
+ serial_link_frame_validator\
+ serial_link_frame_router\
+ serial_link_triple_buffered_object\
+ serial_link_transport \ No newline at end of file
diff --git a/quantum/serial_link/tests/transport_tests.cpp b/quantum/serial_link/tests/transport_tests.cpp
new file mode 100644
index 0000000000..21b7b165f6
--- /dev/null
+++ b/quantum/serial_link/tests/transport_tests.cpp
@@ -0,0 +1,188 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 Fred Sundvik
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#include "gtest/gtest.h"
+#include "gmock/gmock.h"
+
+using testing::_;
+using testing::ElementsAreArray;
+using testing::Args;
+
+extern "C" {
+#include "serial_link/protocol/transport.h"
+}
+
+struct test_object1 {
+ uint32_t test;
+};
+
+struct test_object2 {
+ uint32_t test1;
+ uint32_t test2;
+};
+
+MASTER_TO_ALL_SLAVES_OBJECT(master_to_slave, test_object1);
+MASTER_TO_SINGLE_SLAVE_OBJECT(master_to_single_slave, test_object1);
+SLAVE_TO_MASTER_OBJECT(slave_to_master, test_object1);
+
+static remote_object_t* test_remote_objects[] = {
+ REMOTE_OBJECT(master_to_slave),
+ REMOTE_OBJECT(master_to_single_slave),
+ REMOTE_OBJECT(slave_to_master),
+};
+
+class Transport : public testing::Test {
+public:
+ Transport() {
+ Instance = this;
+ add_remote_objects(test_remote_objects, sizeof(test_remote_objects) / sizeof(remote_object_t*));
+ }
+
+ ~Transport() {
+ Instance = nullptr;
+ reinitialize_serial_link_transport();
+ }
+
+ MOCK_METHOD0(signal_data_written, void ());
+ MOCK_METHOD1(router_send_frame, void (uint8_t destination));
+
+ void router_send_frame(uint8_t destination, uint8_t* data, uint16_t size) {
+ router_send_frame(destination);
+ std::copy(data, data + size, std::back_inserter(sent_data));
+ }
+
+ static Transport* Instance;
+
+ std::vector<uint8_t> sent_data;
+};
+
+Transport* Transport::Instance = nullptr;
+
+extern "C" {
+void signal_data_written(void) {
+ Transport::Instance->signal_data_written();
+}
+
+void router_send_frame(uint8_t destination, uint8_t* data, uint16_t size) {
+ Transport::Instance->router_send_frame(destination, data, size);
+}
+}
+
+TEST_F(Transport, write_to_local_signals_an_event) {
+ begin_write_master_to_slave();
+ EXPECT_CALL(*this, signal_data_written());
+ end_write_master_to_slave();
+ begin_write_slave_to_master();
+ EXPECT_CALL(*this, signal_data_written());
+ end_write_slave_to_master();
+ begin_write_master_to_single_slave(1);
+ EXPECT_CALL(*this, signal_data_written());
+ end_write_master_to_single_slave(1);
+}
+
+TEST_F(Transport, writes_from_master_to_all_slaves) {
+ update_transport();
+ test_object1* obj = begin_write_master_to_slave();
+ obj->test = 5;
+ EXPECT_CALL(*this, signal_data_written());
+ end_write_master_to_slave();
+ EXPECT_CALL(*this, router_send_frame(0xFF));
+ update_transport();
+ transport_recv_frame(0, sent_data.data(), sent_data.size());
+ test_object1* obj2 = read_master_to_slave();
+ EXPECT_NE(obj2, nullptr);
+ EXPECT_EQ(obj2->test, 5);
+}
+
+TEST_F(Transport, writes_from_slave_to_master) {
+ update_transport();
+ test_object1* obj = begin_write_slave_to_master();
+ obj->test = 7;
+ EXPECT_CALL(*this, signal_data_written());
+ end_write_slave_to_master();
+ EXPECT_CALL(*this, router_send_frame(0));
+ update_transport();
+ transport_recv_frame(3, sent_data.data(), sent_data.size());
+ test_object1* obj2 = read_slave_to_master(2);
+ EXPECT_EQ(read_slave_to_master(0), nullptr);
+ EXPECT_NE(obj2, nullptr);
+ EXPECT_EQ(obj2->test, 7);
+}
+
+TEST_F(Transport, writes_from_master_to_single_slave) {
+ update_transport();
+ test_object1* obj = begin_write_master_to_single_slave(3);
+ obj->test = 7;
+ EXPECT_CALL(*this, signal_data_written());
+ end_write_master_to_single_slave(3);
+ EXPECT_CALL(*this, router_send_frame(4));
+ update_transport();
+ transport_recv_frame(0, sent_data.data(), sent_data.size());
+ test_object1* obj2 = read_master_to_single_slave();
+ EXPECT_NE(obj2, nullptr);
+ EXPECT_EQ(obj2->test, 7);
+}
+
+TEST_F(Transport, ignores_object_with_invalid_id) {
+ update_transport();
+ test_object1* obj = begin_write_master_to_single_slave(3);
+ obj->test = 7;
+ EXPECT_CALL(*this, signal_data_written());
+ end_write_master_to_single_slave(3);
+ EXPECT_CALL(*this, router_send_frame(4));
+ update_transport();
+ sent_data[sent_data.size() - 1] = 44;
+ transport_recv_frame(0, sent_data.data(), sent_data.size());
+ test_object1* obj2 = read_master_to_single_slave();
+ EXPECT_EQ(obj2, nullptr);
+}
+
+TEST_F(Transport, ignores_object_with_size_too_small) {
+ update_transport();
+ test_object1* obj = begin_write_master_to_slave();
+ obj->test = 7;
+ EXPECT_CALL(*this, signal_data_written());
+ end_write_master_to_slave();
+ EXPECT_CALL(*this, router_send_frame(_));
+ update_transport();
+ sent_data[sent_data.size() - 2] = 0;
+ transport_recv_frame(0, sent_data.data(), sent_data.size() - 1);
+ test_object1* obj2 = read_master_to_slave();
+ EXPECT_EQ(obj2, nullptr);
+}
+
+TEST_F(Transport, ignores_object_with_size_too_big) {
+ update_transport();
+ test_object1* obj = begin_write_master_to_slave();
+ obj->test = 7;
+ EXPECT_CALL(*this, signal_data_written());
+ end_write_master_to_slave();
+ EXPECT_CALL(*this, router_send_frame(_));
+ update_transport();
+ sent_data.resize(sent_data.size() + 22);
+ sent_data[sent_data.size() - 1] = 0;
+ transport_recv_frame(0, sent_data.data(), sent_data.size());
+ test_object1* obj2 = read_master_to_slave();
+ EXPECT_EQ(obj2, nullptr);
+}
diff --git a/quantum/serial_link/tests/triple_buffered_object_tests.cpp b/quantum/serial_link/tests/triple_buffered_object_tests.cpp
new file mode 100644
index 0000000000..7724bbee9c
--- /dev/null
+++ b/quantum/serial_link/tests/triple_buffered_object_tests.cpp
@@ -0,0 +1,84 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 Fred Sundvik
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#include "gtest/gtest.h"
+extern "C" {
+#include "serial_link/protocol/triple_buffered_object.h"
+}
+
+struct test_object{
+ uint8_t state;
+ uint32_t buffer[3];
+};
+
+test_object test_object;
+
+class TripleBufferedObject : public testing::Test {
+public:
+ TripleBufferedObject() {
+ triple_buffer_init((triple_buffer_object_t*)&test_object);
+ }
+};
+
+TEST_F(TripleBufferedObject, writes_and_reads_object) {
+ *triple_buffer_begin_write(&test_object) = 0x3456ABCC;
+ triple_buffer_end_write(&test_object);
+ EXPECT_EQ(*triple_buffer_read(&test_object), 0x3456ABCC);
+}
+
+TEST_F(TripleBufferedObject, does_not_read_empty) {
+ EXPECT_EQ(triple_buffer_read(&test_object), nullptr);
+}
+
+TEST_F(TripleBufferedObject, writes_twice_and_reads_object) {
+ *triple_buffer_begin_write(&test_object) = 0x3456ABCC;
+ triple_buffer_end_write(&test_object);
+ *triple_buffer_begin_write(&test_object) = 0x44778899;
+ triple_buffer_end_write(&test_object);
+ EXPECT_EQ(*triple_buffer_read(&test_object), 0x44778899);
+}
+
+TEST_F(TripleBufferedObject, performs_another_write_in_the_middle_of_read) {
+ *triple_buffer_begin_write(&test_object) = 1;
+ triple_buffer_end_write(&test_object);
+ uint32_t* read = triple_buffer_read(&test_object);
+ *triple_buffer_begin_write(&test_object) = 2;
+ triple_buffer_end_write(&test_object);
+ EXPECT_EQ(*read, 1);
+ EXPECT_EQ(*triple_buffer_read(&test_object), 2);
+ EXPECT_EQ(triple_buffer_read(&test_object), nullptr);
+}
+
+TEST_F(TripleBufferedObject, performs_two_writes_in_the_middle_of_read) {
+ *triple_buffer_begin_write(&test_object) = 1;
+ triple_buffer_end_write(&test_object);
+ uint32_t* read = triple_buffer_read(&test_object);
+ *triple_buffer_begin_write(&test_object) = 2;
+ triple_buffer_end_write(&test_object);
+ *triple_buffer_begin_write(&test_object) = 3;
+ triple_buffer_end_write(&test_object);
+ EXPECT_EQ(*read, 1);
+ EXPECT_EQ(*triple_buffer_read(&test_object), 3);
+ EXPECT_EQ(triple_buffer_read(&test_object), nullptr);
+}