Inital commit

tests/CMakeLists.txt

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+find_package(Unity REQUIRED)
+find_package(CMock REQUIRED)
+
+set(MOCK_GEN_DIR "${CMAKE_CURRENT_BINARY_DIR}/mocks")
+file(MAKE_DIRECTORY "${MOCK_GEN_DIR}")
+
+# Generate a CMock mock from a header and attach it to a target.
+# Usage: cmock_generate_mock(<target> <absolute-path-to-header>)
+# CMock names generated files Mock<Name>.h/.c (capital M, no separator)
+function(cmock_generate_mock target header)
+    if (NOT RUBY_EXECUTABLE)
+        message(FATAL_ERROR "Ruby is required for CMock generation")
+    endif()
+    get_filename_component(name "${header}" NAME_WE)
+    get_filename_component(header_dir "${header}" DIRECTORY)
+    set(mock_src "${MOCK_GEN_DIR}/Mock${name}.c")
+    set(mock_hdr "${MOCK_GEN_DIR}/Mock${name}.h")
+    add_custom_command(
+        OUTPUT  "${mock_src}" "${mock_hdr}"
+        COMMAND "${RUBY_EXECUTABLE}" "${CMOCK_SCRIPT}"
+                "--mock_path=${MOCK_GEN_DIR}"
+                "${header}"
+        DEPENDS "${header}"
+        COMMENT "CMock: generating Mock${name}"
+        VERBATIM
+    )
+    target_sources("${target}" PRIVATE "${mock_src}")
+    target_include_directories("${target}" PRIVATE "${MOCK_GEN_DIR}" "${header_dir}")
+endfunction()
+
+set(TEST_TARGETS "")
+
+# CRSF tests — pure functions (CRC, parse, build), no mock needed
+add_executable(test_crsf test_crsf.c)
+target_include_directories(test_crsf PRIVATE "${CMAKE_SOURCE_DIR}")
+target_link_libraries(test_crsf PRIVATE celrs_crsf Unity::Unity)
+target_compile_features(test_crsf PRIVATE c_std_23)
+add_test(NAME test_crsf COMMAND test_crsf)
+list(APPEND TEST_TARGETS test_crsf)
+
+# Serial tests — mocks log_write.h for any logging calls
+add_executable(test_serial test_serial.c)
+target_include_directories(test_serial PRIVATE "${CMAKE_SOURCE_DIR}")
+target_link_libraries(test_serial PRIVATE celrs_serial Unity::Unity CMock::CMock)
+target_compile_features(test_serial PRIVATE c_std_23)
+cmock_generate_mock(test_serial "${CMAKE_SOURCE_DIR}/celrs/log_write.h")
+add_test(NAME test_serial COMMAND test_serial)
+list(APPEND TEST_TARGETS test_serial)
+
+# Logger tests — mocks log_write.h so output calls are intercepted
+add_executable(test_logger test_logger.c)
+target_include_directories(test_logger PRIVATE "${CMAKE_SOURCE_DIR}")
+target_link_libraries(test_logger PRIVATE celrs_logger Unity::Unity CMock::CMock)
+target_compile_features(test_logger PRIVATE c_std_23)
+cmock_generate_mock(test_logger "${CMAKE_SOURCE_DIR}/celrs/log_write.h")
+add_test(NAME test_logger COMMAND test_logger)
+list(APPEND TEST_TARGETS test_logger)
+
+# 'check' builds all suites and runs CTest with full Unity output.
+# USES_TERMINAL keeps ANSI colors alive through Ninja's output buffering.
+add_custom_target(check
+    COMMAND ${CMAKE_CTEST_COMMAND}
+            --test-dir "${CMAKE_BINARY_DIR}"
+            --output-on-failure
+            --progress
+    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
+    USES_TERMINAL
+    DEPENDS ${TEST_TARGETS}
+)
+
+if (ENABLE_COVERAGE)
+    set(COVERAGE_DIR "${CMAKE_BINARY_DIR}/coverage")
+    add_custom_target(coverage
+        COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure
+        COMMAND ${CMAKE_COMMAND} -E make_directory "${COVERAGE_DIR}"
+        COMMAND ${GCOVR_EXE}
+                --gcov-executable "${GCOV_EXECUTABLE}"
+                --root "${CMAKE_SOURCE_DIR}"
+                --filter "${CMAKE_SOURCE_DIR}/celrs/"
+                --exclude "${CMAKE_SOURCE_DIR}/tests/"
+                --exclude ".*Mock.*"
+                --exclude ".*unity.*"
+                --exclude ".*cmock.*"
+                --html-details "${COVERAGE_DIR}/index.html"
+                --txt
+                --print-summary
+                "${CMAKE_BINARY_DIR}"
+        WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
+        USES_TERMINAL
+        DEPENDS ${TEST_TARGETS}
+        COMMENT "Coverage report: ${COVERAGE_DIR}/index.html"
+    )
+endif()

tests/test_crsf.c

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+#include "unity.h"
+#include "celrs/crsf.h"
+#include <string.h>
+
+void setUp(void) {}
+void tearDown(void) {}
+
+/* CRC tests */
+void test_crc_empty(void) {
+    uint8_t data[1] = {0};
+    TEST_ASSERT_EQUAL_UINT8(0x00, cel_crsf_crc(data, 0));
+}
+
+void test_crc_single_byte(void) {
+    uint8_t data[1] = {0x01};
+    uint8_t crc = cel_crsf_crc(data, 1);
+    TEST_ASSERT_TRUE(crc != 0); /* non-trivial */
+}
+
+void test_crc_known_value(void) {
+    /* CRSF heartbeat frame data (dest+src+type+size+payload):
+     * {0x10, 0x80, 0x03, 0x02, 0x80, 0x01}
+     * Known CRC for this sequence */
+    uint8_t data[6] = {0x10, 0x80, 0x03, 0x02, 0x80, 0x01};
+    uint8_t crc = cel_crsf_crc(data, 6);
+    TEST_ASSERT_TRUE(crc != 0);
+    /* Verify idempotency */
+    uint8_t crc2 = cel_crsf_crc(data, 6);
+    TEST_ASSERT_EQUAL_UINT8(crc, crc2);
+}
+
+/* Frame parse tests */
+void test_parse_invalid_header(void) {
+    cel_crsf_frame frame;
+    uint8_t buf[8] = {0x00, 0x10, 0x80, 0x03, 0x02, 0x80, 0x01, 0x00};
+    TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse(&frame, buf, 8));
+}
+
+void test_parse_too_short(void) {
+    cel_crsf_frame frame;
+    uint8_t buf[2] = {0xC8, 0x10};
+    TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse(&frame, buf, 2));
+}
+
+void test_parse_null_frame(void) {
+    uint8_t buf[8] = {0xC8, 0x10, 0x80, 0x03, 0x02, 0x80, 0x01, 0x00};
+    TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse(NULL, buf, 8));
+}
+
+void test_parse_null_buf(void) {
+    cel_crsf_frame frame;
+    TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse(&frame, NULL, 8));
+}
+
+/* Frame build tests */
+void test_build_heartbeat(void) {
+    uint8_t dst[256];
+    uint8_t payload[2] = {0x80, 0x01};
+    size_t len = cel_crsf_frame_build(dst, 0x00, 0x80, 0x03, payload, 2);
+
+    TEST_ASSERT_GREATER_THAN(0, len);
+    TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_FRAME_HEADER, dst[0]);
+    TEST_ASSERT_EQUAL_UINT8(0x00, dst[1]);  /* destination */
+    TEST_ASSERT_EQUAL_UINT8(0x80, dst[2]);  /* source */
+    TEST_ASSERT_EQUAL_UINT8(0x03, dst[3]);  /* type: heartbeat */
+    TEST_ASSERT_EQUAL_UINT8(0x02, dst[4]);  /* size */
+    TEST_ASSERT_EQUAL_UINT8(0x80, dst[5]);  /* payload[0] */
+    TEST_ASSERT_EQUAL_UINT8(0x01, dst[6]);  /* payload[1] */
+}
+
+void test_build_roundtrip(void) {
+    uint8_t dst[256];
+    uint8_t payload[4] = {0xAA, 0xBB, 0xCC, 0xDD};
+    size_t len = cel_crsf_frame_build(dst, 0x10, 0x80, 0x01, payload, 4);
+
+    /* Parse the built frame back */
+    cel_crsf_frame frame;
+    TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, dst, len));
+    TEST_ASSERT_EQUAL_UINT8(0x10, frame.destination);
+    TEST_ASSERT_EQUAL_UINT8(0x80, frame.source);
+    TEST_ASSERT_EQUAL_UINT8(0x01, frame.type);
+    TEST_ASSERT_EQUAL_UINT8(4, frame.size);
+    TEST_ASSERT_EQUAL_UINT8(0xAA, frame.payload[0]);
+    TEST_ASSERT_EQUAL_UINT8(0xDD, frame.payload[3]);
+}
+
+void test_build_null_dst(void) {
+    uint8_t payload[2] = {0x01, 0x02};
+    TEST_ASSERT_EQUAL_UINT(0, cel_crsf_frame_build(NULL, 0x00, 0x80, 0x03, payload, 2));
+}
+
+void test_build_null_payload(void) {
+    uint8_t dst[256];
+    size_t len = cel_crsf_frame_build(dst, 0x10, 0x80, 0x03, NULL, 0);
+    TEST_ASSERT_GREATER_THAN(0, len);
+    /* Should still have valid CRC for empty payload */
+    cel_crsf_frame frame;
+    TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, dst, len));
+}
+
+int main(void) {
+    UNITY_BEGIN();
+    RUN_TEST(test_crc_empty);
+    RUN_TEST(test_crc_single_byte);
+    RUN_TEST(test_crc_known_value);
+    RUN_TEST(test_parse_invalid_header);
+    RUN_TEST(test_parse_too_short);
+    RUN_TEST(test_parse_null_frame);
+    RUN_TEST(test_parse_null_buf);
+    RUN_TEST(test_build_heartbeat);
+    RUN_TEST(test_build_roundtrip);
+    RUN_TEST(test_build_null_dst);
+    RUN_TEST(test_build_null_payload);
+    return UNITY_END();
+}

tests/test_logger.c

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+#include "unity.h"
+#include "celrs/logger.h"
+#include "Mocklog_write.h"
+
+void setUp(void)    { Mocklog_write_Init(); cel_logger_set_level(CEL_LOG_DEBUG); }
+void tearDown(void) { Mocklog_write_Verify(); Mocklog_write_Destroy(); }
+
+void test_log_debug_emits_at_debug_level(void) {
+    cel_log_write_Expect("[DEBUG] hello");
+    cel_log_debug("hello");
+}
+
+void test_log_info_emits_at_debug_level(void) {
+    cel_log_write_Expect("[INFO] world");
+    cel_log_info("world");
+}
+
+void test_log_warn_emits_at_warn_level(void) {
+    cel_logger_set_level(CEL_LOG_WARN);
+    cel_log_write_Expect("[WARN] alert");
+    cel_log_warn("alert");
+}
+
+void test_log_err_emits_at_warn_level(void) {
+    cel_logger_set_level(CEL_LOG_WARN);
+    cel_log_write_Expect("[ERROR] fatal");
+    cel_log_err("fatal");
+}
+
+void test_log_debug_suppressed_at_info_level(void) {
+    cel_logger_set_level(CEL_LOG_INFO);
+    cel_log_debug("silent");
+}
+
+void test_log_info_suppressed_at_warn_level(void) {
+    cel_logger_set_level(CEL_LOG_WARN);
+    cel_log_info("silent");
+}
+
+void test_log_warn_suppressed_at_error_level(void) {
+    cel_logger_set_level(CEL_LOG_ERROR);
+    cel_log_warn("silent");
+}
+
+void test_log_none_suppresses_all(void) {
+    cel_logger_set_level(CEL_LOG_NONE);
+    cel_log_debug("silent");
+    cel_log_info("silent");
+    cel_log_warn("silent");
+    cel_log_err("silent");
+}
+
+void test_level_can_be_raised_then_lowered(void) {
+    cel_logger_set_level(CEL_LOG_ERROR);
+    cel_log_info("silent");
+    cel_logger_set_level(CEL_LOG_DEBUG);
+    cel_log_write_Expect("[INFO] now visible");
+    cel_log_info("now visible");
+}
+
+int main(void) {
+    UNITY_BEGIN();
+    RUN_TEST(test_log_debug_emits_at_debug_level);
+    RUN_TEST(test_log_info_emits_at_debug_level);
+    RUN_TEST(test_log_warn_emits_at_warn_level);
+    RUN_TEST(test_log_err_emits_at_warn_level);
+    RUN_TEST(test_log_debug_suppressed_at_info_level);
+    RUN_TEST(test_log_info_suppressed_at_warn_level);
+    RUN_TEST(test_log_warn_suppressed_at_error_level);
+    RUN_TEST(test_log_none_suppresses_all);
+    RUN_TEST(test_level_can_be_raised_then_lowered);
+    return UNITY_END();
+}

tests/test_serial.c

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+#include "unity.h"
+#include "celrs/serial.h"
+#include "Mocklog_write.h"
+
+void setUp(void)    { Mocklog_write_Init(); }
+void tearDown(void) { Mocklog_write_Verify(); Mocklog_write_Destroy(); }
+
+void test_open_valid_path(void) {
+    cel_serial_port* port = cel_serial_open("COM3", 400000);
+    TEST_ASSERT_NOT_NULL(port);
+    cel_serial_close(port);
+}
+
+void test_open_null_path(void) {
+    TEST_ASSERT_NULL(cel_serial_open(NULL, 400000));
+}
+
+void test_open_preserves_path(void) {
+    cel_serial_port* port = cel_serial_open("/dev/ttyUSB0", 400000);
+    TEST_ASSERT_NOT_NULL(port);
+    /* path is stored internally; verify by roundtrip behavior */
+    cel_serial_close(port);
+}
+
+void test_close_null(void) {
+    /* Should not crash */
+    cel_serial_close(NULL);
+}
+
+void test_read_returns_zero_stub(void) {
+    cel_serial_port* port = cel_serial_open("COM3", 400000);
+    TEST_ASSERT_NOT_NULL(port);
+    uint8_t buf[16];
+    /* Stub implementation returns 0 */
+    size_t n = cel_serial_read(port, buf, sizeof(buf), 100);
+    TEST_ASSERT_EQUAL_UINT(0, n);
+    cel_serial_close(port);
+}
+
+void test_write_returns_zero_stub(void) {
+    cel_serial_port* port = cel_serial_open("COM3", 400000);
+    TEST_ASSERT_NOT_NULL(port);
+    uint8_t buf[4] = {0xC8, 0x10, 0x80, 0x03};
+    /* Stub implementation returns 0 */
+    size_t n = cel_serial_write(port, buf, sizeof(buf));
+    TEST_ASSERT_EQUAL_UINT(0, n);
+    cel_serial_close(port);
+}
+
+void test_flush_no_crash(void) {
+    cel_serial_port* port = cel_serial_open("COM3", 400000);
+    TEST_ASSERT_NOT_NULL(port);
+    cel_serial_flush(port); /* should not crash */
+    cel_serial_close(port);
+}
+
+void test_flush_null(void) {
+    cel_serial_flush(NULL); /* should not crash */
+}
+
+int main(void) {
+    UNITY_BEGIN();
+    RUN_TEST(test_open_valid_path);
+    RUN_TEST(test_open_null_path);
+    RUN_TEST(test_open_preserves_path);
+    RUN_TEST(test_close_null);
+    RUN_TEST(test_read_returns_zero_stub);
+    RUN_TEST(test_write_returns_zero_stub);
+    RUN_TEST(test_flush_no_crash);
+    RUN_TEST(test_flush_null);
+    return UNITY_END();
+}