didas/incphub_test
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chore: First tests

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This commit is contained in:
Diogo Diniz
2026-06-30 16:05:11 +01:00
parent 6a0df95eeb
commit 998bafc53a
10 changed files with 169 additions and 6 deletions
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4
app/src/incphub/src/incphub_client.c
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@@ -69,8 +69,8 @@ int incphub_send_msg(incphub_cli_t *cli, uint8_t *buffer, size_t length, incphub
return INCPHUB_EINVAL;
// Unwind buffer pointer
ntl_packet_t *ntl_packet = (ntl_packet_t*)(buffer - sizeof(ntl_header_t));
nil_packet_t *nil_packet = (nil_packet_t*)(ntl_packet - sizeof(ntl_header_t));
ntl_packet_t *ntl_packet = (ntl_packet_t*)((uint8_t*)buffer - sizeof(ntl_header_t));
nil_packet_t *nil_packet = (nil_packet_t*)((uint8_t*)ntl_packet - sizeof(ntl_header_t));
// Populate NTL header
ntl_build_header(&ntl_packet->header, dst.port, cli->port, length);

2
app/src/incphub/src/incphub_shared.c
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@@ -206,7 +206,7 @@ int dequeue_message_ingest(uint8_t **buffer_ptr, TickType_t max_delay)
uint8_t *buffer;
// Try to dequeue message
if (xQueueReceive(incphub_ingest_queue, &buffer, max_delay))
if (xQueueReceive(incphub_ingest_queue, &buffer, max_delay) == pdFALSE)
{
return INCPHUB_EAGAIN;
}

2
app/src/incphub/src/incphub_task.c
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@@ -58,7 +58,7 @@ void incphub_task_main(void *params)
{
// Dequeue message
uint8_t *buffer;
dequeue_message_ingest(&buffer, portMAX_DELAY);
err = dequeue_message_ingest(&buffer, portMAX_DELAY);
// Get NIL packet
nil_packet_t *nil = extract_nil_packet(buffer, INCPHUB_MSG_BUFFER_SIZE);

4
app/src/main.c
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@@ -4,6 +4,8 @@
#include "task.h"
#include "tasks/heartbeat_task.h"
#include "tasks/sensor_task.h"
#include "tasks/requester_task.h"
#include "incphub/incphub_task.h"
int my_main()
@@ -13,6 +15,8 @@ int my_main()
// Create tasks
xTaskCreateStatic(heartbeat_task_main, "heartbeat", HEARTBEAT_TASK_STACK_DEPTH, NULL, HEARTBEAT_TASK_PRIORITY, _heartbeat_task_stack, &_heartbeat_task);
xTaskCreateStatic(sensor_task_main, "sensor", SENSOR_TASK_STACK_DEPTH, NULL, SENSOR_TASK_PRIORITY, _sensor_task_stack, &_sensor_task);
xTaskCreateStatic(requester_task_main, "requester", REQUESTER_TASK_STACK_DEPTH, NULL, REQUESTER_TASK_PRIORITY, _requester_task_stack, &_requester_task);
xTaskCreateStatic(incphub_task_main, "incphub", INCPHUB_TASK_STACK_DEPTH, NULL, INCPHUB_TASK_PRIORITY, _incphub_task_stack, &_incphub_task);
// Run

2
app/src/tasks/CMakeLists.txt
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@@ -1,4 +1,6 @@
target_sources(${EXECUTABLE} PRIVATE
tasks.c
heartbeat_task.c
sensor_task.c
requester_task.c
)

4
app/src/tasks/heartbeat_task.h
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@@ -1,5 +1,5 @@
#ifndef _HEARTBEAT_TASK_H_
#define _HEARTBEAT_TASK_H_
#ifndef HEARTBEAT_TASK_H_
#define HEARTBEAT_TASK_H_
#include "FreeRTOS.h"
#include "task.h"

70
app/src/tasks/requester_task.c Normal file
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@@ -0,0 +1,70 @@
#include "requester_task.h"
#include <stdio.h>
#include <string.h>
#include "stm32f4xx_hal.h"
#include "stm32f4xx_hal_uart.h"
#include "usart.h"
#include "incphub/incphub_client.h"
StackType_t _requester_task_stack[REQUESTER_TASK_STACK_DEPTH];
StaticTask_t _requester_task;
#define RANDOM_COUNT 4
uint32_t random_values[RANDOM_COUNT] = { 411, 69, 420, 0xdeadbeef };
void requester_task_main(void *params)
{
(void)params;
TickType_t last_wake = xTaskGetTickCount();
int random_index = 0;
uint8_t *buffer;
size_t length;
incphub_addr_t source;
// Init incphub client
incphub_cli_t *cli;
incphub_init_client(&cli, 70);
while (1)
{
// Avoid spamming the sensor task
xTaskDelayUntil(&last_wake, 50);
// Generate request
uint32_t request = random_values[random_index++];
random_index %= RANDOM_COUNT;
// Get buffer
incphub_get_msg_buffer(cli, &buffer, sizeof(uint32_t));
// Populate buffer
*(uint32_t*)buffer = request;
// Send to sendor task
incphub_addr_t destination = { .addr = NIL_ADDR_LOCALHOST, .port = 69 };
incphub_send_msg(cli, buffer, sizeof(uint32_t), destination, portMAX_DELAY);
// Await reply (assumes no other task will send to this one)
incphub_await_msg(cli, &buffer, &length, &source, portMAX_DELAY);
// Ignore messages of different size
if (length != sizeof(uint32_t))
continue;
// Read reply message
uint32_t num = *(uint32_t*)buffer;
// Profit (send to UART to ensure it worked)
char strbuf[32];
sprintf(strbuf, "%u\r\n", num);
HAL_UART_Transmit(&huart2, strbuf, strlen(strbuf), 9999);
}
}

16
app/src/tasks/requester_task.h Normal file
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@@ -0,0 +1,16 @@
#ifndef REQUSTER_TASK_H_
#define REQUSTER_TASK_H_
#include "FreeRTOS.h"
#include "task.h"
#include "FreeRTOSConfig.h"
#define REQUESTER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
#define REQUESTER_TASK_PRIORITY (configMAX_PRIORITIES - 1)
extern StackType_t _requester_task_stack[REQUESTER_TASK_STACK_DEPTH];
extern StaticTask_t _requester_task;
void requester_task_main(void *params);
#endif

55
app/src/tasks/sensor_task.c Normal file
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@@ -0,0 +1,55 @@
#include "sensor_task.h"
#include "stm32f4xx_hal.h"
#include "stm32f4xx_hal_gpio.h"
#include "gpio.h"
#include "incphub/incphub_client.h"
StackType_t _sensor_task_stack[SENSOR_TASK_STACK_DEPTH];
StaticTask_t _sensor_task;
void sensor_task_main(void *params)
{
(void)params;
uint8_t *buffer;
size_t length;
incphub_addr_t source;
// Init incphub client
incphub_cli_t *cli;
incphub_init_client(&cli, 69);
while (1)
{
// Get a message (assume it is a uint32_t)
incphub_await_msg(cli, &buffer, &length, &source, portMAX_DELAY);
// Ignore messages of different size
if (length != sizeof(uint32_t))
continue;
// Read incoming message
uint32_t num = *(uint32_t*)buffer;
// Release buffer once read
incphub_release_msg_buffer(cli, buffer);
// Process message
num++;
// Request buffer for reply
incphub_get_msg_buffer(cli, &buffer, sizeof(uint32_t));
// Prepare reply message
*(uint32_t*)buffer = num;
// Send reply
incphub_send_msg(cli, buffer, sizeof(uint32_t), source, portMAX_DELAY);
}
}

16
app/src/tasks/sensor_task.h Normal file
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@@ -0,0 +1,16 @@
#ifndef SENSOR_TASK_H_
#define SENSOR_TASK_H_
#include "FreeRTOS.h"
#include "task.h"
#include "FreeRTOSConfig.h"
#define SENSOR_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
#define SENSOR_TASK_PRIORITY (configMAX_PRIORITIES - 1)
extern StackType_t _sensor_task_stack[SENSOR_TASK_STACK_DEPTH];
extern StaticTask_t _sensor_task;
void sensor_task_main(void *params);
#endif