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authorNicolas Schodet2024-03-27 18:05:39 +0100
committerNicolas Schodet2024-03-27 21:26:23 +0100
commitf3a482d683cdbefeaa15ce6781cd44d226722a12 (patch)
treef23795746e5babbe07f7aaf72fb4d3928b80c45d
parent109e9777bb91360fee67d20263886d14cb97b23a (diff)
Add a test suite
The test suite runs program(s) on the NXT brick and compare the output with the expected output. This can be run against NXT Improved Firmware, or other firmwares for comparison. It depends on NXC and NXT-Python.
-rw-r--r--LICENSE1
-rw-r--r--README1
-rw-r--r--tests/Makefile34
-rw-r--r--tests/float.expect56
-rw-r--r--tests/float.nxc141
-rw-r--r--tests/term.h55
-rw-r--r--tests/term.py78
7 files changed, 366 insertions, 0 deletions
diff --git a/LICENSE b/LICENSE
index f5814a9..fb590f9 100644
--- a/LICENSE
+++ b/LICENSE
@@ -12,6 +12,7 @@ Details:
- startup/*: see header (provided "as is").
- armdebug/*: see armdebug/README (dual, LEGO Open Source License or GPLv2).
- contrib/*: see header.
+- tests/*: Expat license, see header.
LEGO(R) is a trademark of the LEGO Group of companies which does not sponsor,
authorize or endorse NXT Improved Firmware.
diff --git a/README b/README
index 29b5f61..8dcca98 100644
--- a/README
+++ b/README
@@ -32,6 +32,7 @@ Details:
- startup/*: see header (provided "as is").
- armdebug/*: see armdebug/README (dual, LEGO Open Source License or GPLv2).
- contrib/*: see header.
+- tests/*: Expat license, see header.
LEGO(R) is a trademark of the LEGO Group of companies which does not sponsor,
authorize or endorse NXT Improved Firmware.
diff --git a/tests/Makefile b/tests/Makefile
new file mode 100644
index 0000000..9e7d788
--- /dev/null
+++ b/tests/Makefile
@@ -0,0 +1,34 @@
+NBC = nbc
+OPTIMIZE = -Z2
+FIRMWARE =
+PYTHON = python3
+# or PYTHON = poetry -C path/to/nxt-python run python
+
+TESTS = float
+
+tests: $(TESTS:%=%.diff)
+
+%.rxe: %.nxc
+ $(NBC) $(OPTIMIZE) $(FIRMWARE) -O=$@ $<
+
+%.load: %.rxe
+ $(NBC) $(OPTIMIZE) $(FIRMWARE) -d -b $<
+
+%.out: %.load
+ $(PYTHON) term.py -qos $* > $@
+
+%.diff: %.out %.expect
+ diff $^ > $@
+
+%.S: %.nxc
+ $(NBC) $(OPTIMIZE) $(FIRMWARE) -nbc=$@ $<
+
+clean-out:
+ rm -f $(TESTS:%=%.out) $(TESTS:%=%.diff)
+
+clean: clean-out
+ rm -f $(TESTS:%=%.rxe)
+
+.SECONDARY:
+
+.DELETE_ON_ERROR:
diff --git a/tests/float.expect b/tests/float.expect
new file mode 100644
index 0000000..4777fb1
--- /dev/null
+++ b/tests/float.expect
@@ -0,0 +1,56 @@
+move -12.9
+ char -12 244
+ short -12 65524
+ long -12 4294967284
+move -12.34
+ char -12 244
+ short -12 65524
+ long -12 4294967284
+move 12.34
+ char 12 12
+ short 12 12
+ long 12 12
+move 12.9
+ char 12 12
+ short 12 12
+ long 12 12
+move[] -12.9
+ char -12 244
+ short -12 65524
+ long -12 4294967284
+move[] -12.34
+ char -12 244
+ short -12 65524
+ long -12 4294967284
+move[] 12.34
+ char 12 12
+ short 12 12
+ long 12 12
+move[] 12.9
+ char 12 12
+ short 12 12
+ long 12 12
+neg -12.9
+ char 12 12
+ short 12 12
+ long 12 12
+neg -12.34
+ char 12 12
+ short 12 12
+ long 12 12
+neg 12.34
+ char -12 244
+ short -12 65524
+ long -12 4294967284
+neg 12.9
+ char -12 244
+ short -12 65524
+ long -12 4294967284
+out -12.9
+ char -13 243
+out -12.34
+ char -12 244
+out 12.34
+ char 12 12
+out 12.9
+ char 13 13
diff --git a/tests/float.nxc b/tests/float.nxc
new file mode 100644
index 0000000..4edbb29
--- /dev/null
+++ b/tests/float.nxc
@@ -0,0 +1,141 @@
+/*
+ * Copyright (C) 2024 Nicolas Schodet
+ *
+ * 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.
+ */
+
+/*
+ * Convert floating point values to integer, check conversion is right.
+ *
+ * Actual check is done on the attached computer, see float.expect.
+ *
+ * When converting a float to an integer, if the integer is not able to
+ * represent the value, the behavior is implementation defined.
+ *
+ * The original firmware source code depends on this implementation defined
+ * behavior from the C compiler.
+ *
+ * The LEGO MINDSTORMS NXT Executable File Specification does not define what
+ * is the expected behavior for the firmware because it was released for
+ * version 1.03, before float was supported. However it says: "At the scalar
+ * level, data type conversions behave identically to type casts in ANSI C.".
+ *
+ * For NXT Improved firmware, I decided to follow the behavior of the original
+ * firmware binary, which is:
+ *
+ * - Negative values to unsigned numbers: large positive integer (two's
+ * complement).
+ * - Round to nearest for SETOUT instruction, truncate for other operations.
+ *
+ * There are so many code paths inside the firmware to do the same thing that
+ * I may have missed some other cases. If you find such cases, please update
+ * this test.
+ */
+
+#include "term.h"
+
+task main()
+{
+ float a[4] = {-12.9, -12.34, 12.34, 12.9};
+ int i;
+
+ Wait(1000);
+
+ /*
+ * Test conversion using MOV instruction.
+ */
+ for (i = 0; i < 4; i++) {
+ float af = a[i];
+ char ac = af;
+ unsigned char auc = af;
+ short as = af;
+ unsigned short aus = af;
+ long al = af;
+ unsigned long aul = af;
+
+ TermText("move "); TermNumNl(af);
+ TermText(" char "); TermNum(ac); TermText(" "); TermNumNl(auc);
+ TermText(" short "); TermNum(as); TermText(" "); TermNumNl(aus);
+ TermText(" long "); TermNum(al); TermText(" "); TermNumNl(aul);
+
+ Wait(100);
+ }
+
+ /*
+ * Test conversion using MOV instruction with an array.
+ */
+ while (1) {
+ char ac[4];
+ ac = a;
+ unsigned char auc[4];
+ auc = a;
+ short as[4];
+ as = a;
+ unsigned short aus[4];
+ aus = a;
+ long al[4];
+ al = a;
+ unsigned long aul[4];
+ aul = a;
+ for (i = 0; i < 4; i++) {
+ TermText("move[] "); TermNumNl(a[i]);
+ TermText(" char "); TermNum(ac[i]); TermText(" "); TermNumNl(auc[i]);
+ TermText(" short "); TermNum(as[i]); TermText(" "); TermNumNl(aus[i]);
+ TermText(" long "); TermNum(al[i]); TermText(" "); TermNumNl(aul[i]);
+
+ Wait(100);
+ }
+ break;
+ }
+
+ /*
+ * Test conversion using NEG instruction.
+ */
+ for (i = 0; i < 4; i++) {
+ float af = a[i];
+ char ac = -af;
+ unsigned char auc = -af;
+ short as = -af;
+ unsigned short aus = -af;
+ long al = -af;
+ unsigned long aul = -af;
+
+ TermText("neg "); TermNumNl(af);
+ TermText(" char "); TermNum(ac); TermText(" "); TermNumNl(auc);
+ TermText(" short "); TermNum(as); TermText(" "); TermNumNl(aus);
+ TermText(" long "); TermNum(al); TermText(" "); TermNumNl(aul);
+
+ Wait(100);
+ }
+
+ /*
+ * Test conversion using SETOUT/GETOUT instructions.
+ */
+ for (i = 0; i < 4; i++) {
+ float af = a[i];
+ SetOutput(OUT_A, PowerField, af, RegPValueField, af);
+ char ac = GetOutput(OUT_A, PowerField);
+ unsigned char auc = GetOutput(OUT_A, RegPValueField);
+
+ TermText("out "); TermNumNl(af);
+ TermText(" char "); TermNum(ac); TermText(" "); TermNumNl(auc);
+
+ Wait(100);
+ }
+}
diff --git a/tests/term.h b/tests/term.h
new file mode 100644
index 0000000..967dccf
--- /dev/null
+++ b/tests/term.h
@@ -0,0 +1,55 @@
+#ifndef term_h
+#define term_h
+/*
+ * Copyright (C) 2024 Nicolas Schodet
+ *
+ * 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.
+ */
+
+/**
+ * Terminal like output using messages.
+ */
+
+int term_screen_line = LCD_LINE1;
+string term_line = "";
+
+inline void
+TermTextSub(string s, bool nl)
+{
+ term_line = StrCat(term_line, s);
+ if (nl) {
+ TextOut(0, term_screen_line, term_line);
+ if (term_screen_line)
+ term_screen_line -= 8;
+ else
+ term_screen_line = LCD_LINE1;
+ ClearLine(term_screen_line);
+ SendMessage(10, term_line);
+ Wait(2);
+ term_line = "";
+ }
+}
+
+#define TermText(s) TermTextSub(s, FALSE)
+#define TermTextNl(s) TermTextSub(s, TRUE)
+#define TermNum(num) TermText(NumToStr(num))
+#define TermNumNl(num) TermTextNl(NumToStr(num))
+#define TermNl(num) TermTextNl("")
+
+#endif
diff --git a/tests/term.py b/tests/term.py
new file mode 100644
index 0000000..c1a5bb6
--- /dev/null
+++ b/tests/term.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+"""Display terminal output from NXT program."""
+#
+# Copyright (C) 2024 Nicolas Schodet
+#
+# 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.
+#
+import argparse
+import nxt.locator
+import nxt.error
+import os.path
+import time
+
+p = argparse.ArgumentParser(description=__doc__)
+p.add_argument("-s", "--start", metavar="PROGRAM",
+ help="start program (with .rxe extension if not given")
+p.add_argument("-q", "--quiet", action="store_true", help="output nothing while waiting")
+p.add_argument("-o", "--once", action="store_true", help="exit after program end")
+nxt.locator.add_arguments(p)
+options = p.parse_args()
+
+spinner = "-\\|/"
+spinning = False
+seen = False
+
+def out(message):
+ print(message.rstrip(b"\0").decode("windows-1252"))
+
+with nxt.locator.find_with_options(options) as b:
+ try:
+ if options.start:
+ prog = options.start
+ if not os.path.splitext(prog)[1]:
+ prog = prog + ".rxe"
+ b.start_program(prog)
+ while True:
+ try:
+ (inbox, message) = b.message_read(10, 0, True)
+ if spinning:
+ print("\b", end="")
+ out(message)
+ seen = True
+ except nxt.error.EmptyMailboxError as e:
+ if spinning:
+ print("\b", end="")
+ if not options.quiet:
+ print("_", end="", flush=True)
+ spinning = True
+ time.sleep(0.05)
+ seen = True
+ except nxt.error.NoActiveProgramError:
+ if spinning:
+ print("\b", end="")
+ if seen and options.once:
+ break
+ if not options.quiet:
+ print(spinner[0], end="", flush=True)
+ spinner = spinner[1:] + spinner[0]
+ spinning = True
+ time.sleep(0.2)
+ except KeyboardInterrupt:
+ pass