gooptest

* Gooptest
** Motivating Example
   Adapted from [[file:examples/blink.lisp][examples/blink.lisp]]:

   #+BEGIN_SRC 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)))))))
   #+END_SRC

** Setup
*** Dependencies
    To emulate AVR cores, you need to install [[https://github.com/BusError/simavr][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
    [[https://arduino.github.io/arduino-cli/installation/][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
   [[file:package.lisp][package.lisp]] for a list of exported symbols, then use
   your editor's documentation features for more details.

   The [[file:examples][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.


alexandria

babel

cffi

cl-autowrap

cl-plus-c

uiop

Examples for a microcontroller testing framework.

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