Work on serial verification

Issues with /r/n vs /n. Need to fix Pico code probably.

Author: WilliamBarber

testing/Command_Interpreter_Testing.cpp

@@ -5,29 +5,47 @@
 
 #include <wiringSerial.h>
 
-serial;
-
-bool WiringControl::initializeGPIO() {
-    if ((serial = serialOpen("/dev/serial/by-id/usb-MicroPython_Board_in_FS_mode_e6614864d3798738-if00", 115200)) < 0) {
+bool initializeGPIO(int* serial) {
+    if ((*serial = serialOpen("/dev/serial/by-id/usb-MicroPython_Board_in_FS_mode_e6614864d3798738-if00", 115200)) < 0) {
         return false;
     }
     return true;
 }
 
-int getSerialChar() {
-    return serialGetchar(serial); // from wiringSerial
+int getSerialChar(int* serial) {
+    if (*serial == -1) {
+        if (!initializeGPIO(serial)) {
+            std::cerr << "Unable to open serial port! Exiting." << std::endl;
+            exit(42);
+        }
+    }
+    return serialGetchar(*serial); // from wiringSerial
+}
+
+void echoOn(int serial) {
+    serialPuts(serial, "echo on\n");
 }
 
 #else
 
-int getSerialChar() {
+bool initializeGPIO(int* serial) {
+    return true;
+}
+
+void echoOn(int serial) {
+    return;
+}
+
+int getSerialChar(int* serial) {
     return EOF;
 }
 
 #endif
 
 TEST(CommandInterpreterTest, CreateCommandInterpreter) {
     testing::internal::CaptureStdout();
+    int serial = -1;
+    initializeGPIO(&serial);
 
     auto pinNumbers = std::vector<int>{4, 5, 2, 3, 9, 7, 8, 6};
 
@@ -53,8 +71,11 @@ TEST(CommandInterpreterTest, CreateCommandInterpreter) {
         expectedOutput.append(" PWM 1500\n");
     }
 
+    int charRead = EOF;
     std::string serialOutput;
-    while (getSerialChar() != EOF) {}
+    while ((charRead = getSerialChar(&serial)) != EOF) {
+        serialOutput.push_back((char)charRead);
+    }
 
     ASSERT_EQ(pinStatus.size(), 8);
     ASSERT_EQ(pinStatus, (std::vector<int>{1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500}));
@@ -68,6 +89,8 @@ TEST(CommandInterpreterTest, CreateCommandInterpreter) {
 
 TEST(CommandInterpreterTest, CreateCommandInterpreterWithDigitalPins) {
     testing::internal::CaptureStdout();
+    int serial = -1;
+    initializeGPIO(&serial);
 
     auto pinNumbers = std::vector<int>{4, 5, 2, 3, 9, 7, 8, 6};
 
@@ -99,8 +122,11 @@ TEST(CommandInterpreterTest, CreateCommandInterpreterWithDigitalPins) {
     expectedOutput.append("Configure 8 Digital\nSet 8 Digital High\n");
     expectedOutput.append("Configure 9 Digital\nSet 9 Digital Low\n");
 
+    int charRead = EOF;
     std::string serialOutput;
-    while (getSerialChar() != EOF) {}
+    while ((charRead = getSerialChar(&serial)) != EOF) {
+        serialOutput.push_back((char)charRead);
+    }
     ASSERT_EQ(pinStatus.size(), 10);
     ASSERT_EQ(pinStatus, (std::vector<int>{1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1, 0}));
     if (serialOutput.empty()) {
@@ -113,6 +139,8 @@ TEST(CommandInterpreterTest, CreateCommandInterpreterWithDigitalPins) {
 
 TEST(CommandInterpreterTest, BlindExecuteHardwarePwm) {
     testing::internal::CaptureStdout();
+    int serial = -1;
+    initializeGPIO(&serial);
 
     const CommandComponent acceleration = {1900, 1900, 1100,
                                      1250, 1300, 1464, 1535,
@@ -155,8 +183,11 @@ TEST(CommandInterpreterTest, BlindExecuteHardwarePwm) {
     expectedOutput.append("Set 8 PWM 1535\n");
     expectedOutput.append("Set 6 PWM 1536\n");
 
+    int charRead = EOF;
     std::string serialOutput;
-    while (getSerialChar() != EOF) {}
+    while ((charRead = getSerialChar(&serial)) != EOF) {
+        serialOutput.push_back((char)charRead);
+    }
     ASSERT_NEAR((endTime - startTime) / std::chrono::milliseconds(1), std::chrono::milliseconds(2000) /
         std::chrono::milliseconds(1), std::chrono::milliseconds(10) / std::chrono::milliseconds(1));
     ASSERT_EQ(pinStatus, (std::vector<int>{1900, 1900, 1100, 1250, 1300, 1464, 1535, 1536}));
@@ -170,6 +201,8 @@ TEST(CommandInterpreterTest, BlindExecuteHardwarePwm) {
 
 TEST(CommandInterpreterTest, BlindExecuteSoftwarePwm) {
     testing::internal::CaptureStdout();
+    int serial = -1;
+    initializeGPIO(&serial);
 
     const CommandComponent acceleration = {1100, 1900, 1100,
                                            1250, 1300, 1464, 1535,
@@ -212,8 +245,11 @@ TEST(CommandInterpreterTest, BlindExecuteSoftwarePwm) {
     expectedOutput.append("Set 8 PWM 1535\n");
     expectedOutput.append("Set 6 PWM 1536\n");
 
+    int charRead = EOF;
     std::string serialOutput;
-    while (getSerialChar() != EOF) {}
+    while ((charRead = getSerialChar(&serial)) != EOF) {
+        serialOutput.push_back((char)charRead);
+    }
     ASSERT_NEAR((endTime - startTime) / std::chrono::milliseconds(1), std::chrono::milliseconds(2000) /
         std::chrono::milliseconds(1), std::chrono::milliseconds(10) / std::chrono::milliseconds(1));