1Gooptest

1.1Motivating 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)))))))

1.2Setup

1.2.1Dependencies

To emulate AVR cores, you need to install simavr. On Debian and derivatives(that's you, Ubuntu!), simavr is packaged, so run ~sudo apt installlibsimavr~ (you do not need development headers). Elsewhere, download,compile, and install simavr from the link above.To compile Arduino sketches, you'll needarduino-cli.Installation is pretty easy. Put it in your $PATH if you want gooptest tobe able to automatically compile your sketches. TODO: set a custom path toarduino-cli in a variable.

1.2.2Gooptest itself

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

1.3Documentation

Most public functions in gooptest have meaningful documentation strings. Seepackage.lisp for a list of exported symbols, then useyour 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.