62 lines
2.7 KiB
Python
62 lines
2.7 KiB
Python
import re
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from pathlib import Path
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ROOT = Path(__file__).resolve().parents[1]
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NODE = ROOT / "firmware" / "xiao-esp32c6-sensor-node"
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def source(name): return (NODE / name).read_text()
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def test_wiring_matches_assembly():
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config = source("sensor_node_config.h")
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expected = {"RS485_DE_PIN":"D2", "RS485_TX_PIN":"D4", "RS485_RX_PIN":"D5",
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"BNO086_SDA_PIN":"D7", "BNO086_SCL_PIN":"D8", "GPS_RX_PIN":"D9", "GPS_TX_PIN":"D10"}
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for name, pin in expected.items(): assert re.search(rf"#define\s+{name}\s+{pin}\b", config)
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def test_transport_contract():
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text = source("rs485_transport.cpp")
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for token in ['doc["type"] = "sensor_status"', 'doc["schema_version"]', 'createNestedObject("imu")', 'createNestedObject("gps")', "serial.write('\\n')", "serial.flush()"]:
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assert token in text
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assert "USB_TELEMETRY_ENABLED" in text
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assert "serializeJson(doc, Serial)" in text
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assert 'createNestedObject("nmea")' in text
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assert 'nmea["sentences_passed"]' in text
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def test_loop_is_non_blocking():
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loop = source("xiao-esp32c6-sensor-node.ino").split("void loop()", 1)[1]
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assert "updateGps" in loop and "updateImu" in loop and "TELEMETRY_INTERVAL_MS" in loop
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assert not re.search(r"delay\((?:[2-9]|[1-9]\d+)\)", loop)
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def test_imu_does_not_redeclare_arduino_degrees_macro():
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imu = source("imu.cpp")
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assert "float degrees(" not in imu
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assert "radiansToDegrees" in imu
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def test_imu_scans_both_bno08x_i2c_addresses():
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config = source("sensor_node_config.h")
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imu = source("imu.cpp")
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assert "BNO086_I2C_ADDRESS 0x4A" in config
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assert "BNO086_I2C_ADDRESS_ALTERNATE 0x4B" in config
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assert "findBnoAddress()" in imu
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assert "Wire.endTransmission()" in imu
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def test_gps_auto_detects_common_nmea_baud_rates():
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gps = source("gps.cpp")
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assert "baudHasValidNmea" in gps
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assert "{9600, 38400, 115200, 4800}" in gps
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assert "passedChecksum() > 0" in gps
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def test_level_calibration_is_persistent_and_non_blocking():
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calibration = source("calibration.cpp")
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transport = source("rs485_transport.cpp")
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loop = source("xiao-esp32c6-sensor-node.ino").split("void loop()", 1)[1]
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assert 'preferences.begin("sensor_cal"' in calibration
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assert 'putFloat("pitch_zero"' in calibration
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assert 'putFloat("roll_zero"' in calibration
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assert 'type == "calibrate_level"' in transport
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assert 'type == "clear_level_calibration"' in transport
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assert "updateLevelCalibration" in loop
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assert "delay(5000)" not in calibration
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def test_node_does_not_take_cargo_or_ble_authority():
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combined = "\n".join(p.read_text() for p in NODE.glob("*.*"))
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assert "NimBLE" not in combined and "JBD" not in combined and "server.on(" not in combined
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