Gooptest

Motivating Example

Adapted from examples/blink.lisp:

(defsuite blink
    :core (make-arduino-uno (find-sketch "blink")))

(in-suite blink)

(runtest "Light starts in the off state."
 (cycles 1000)                        ; Sleep for 1000 CPU cycles
 (assert-pin :low 13))                ; Assert than pin 13 is low

(runtest "Light turns from off to on at the right time"
  (cycles 499 :ms)                    ; Sleep for 499 milliseconds
  (assert-pin :low 13)
  (cycles 2 :ms)
  (assert-pin :high 13))

(runtest "Light blinks on and off many times."
 ;; The loop below expects to be started with 400 ms (nominal) until the
 ;; next blink.
 (cycles 100 :ms)

 ;; Test 10 blinks on and off
 (dotimes (i 10)

   (assert
    (cycles-between (:start '(390 :ms) ; Start checking 390ms from now
                     :stop '(410 :ms)  ; Stop checking 410ms from now
                     :finally '(500 :ms) ; Return after 500ms from now, to
                                         ; exit in a consistent state.
                     :skip '(1 :ms))   ; Poll the pin every millisecond
      (eq :high (pin 13))))            ; Ensure that this condition passes
                                       ; some time during the interval.

   ;; Realistically, you could test a blinker pretty well just using
   ;; (cycles), without the fancy (cycles-between).

   (assert
    (cycles-between (:start '(390 :ms)
                     :stop '(410 :ms)
                     :finally '(500 :ms)
                     :skip '(1 :ms))
      (eq :low (pin 13)))))))

Setup

Dependencies

To emulate AVR cores, you need to install simavr. On Debian and derivatives (that’s you, Ubuntu!), simavr is packaged, so run sudo apt install libsimavr (you do not need development headers). Elsewhere, download, compile, and install simavr from the link above.

To compile Arduino sketches, you’ll need arduino-cli. Installation is pretty easy. Put it in your $PATH if you want gooptest to be able to automatically compile your sketches. TODO: set a custom path to arduino-cli in a variable.

Gooptest itself

If you’re familiar with Lisp and have a working development environment: Put this repository into your ASDF load path, then (asdf:load-system :gooptest). Examples are in the package gooptest/examples. You might need to install dependencies via quicklisp.

Documentation

Most public functions in gooptest have meaningful documentation strings. See package.lisp for a list of exported symbols, then use your editor’s documentation features for more details.

The examples are a more digestible overview of gooptest. Running the examples should be as simple as (asdf:load-system :gooptest/examples) followed by, for example, (gooptest/examples:blink) to run the blink example.