full_system_integration_test.cpp File Reference

Full system integration test for hf-core. More...

#include "TestFramework.h"
#include "esp32_bus_setup.hpp"
#include "esp32_test_config.hpp"
#include "handlers/as5047u/As5047uHandler.h"
#include "handlers/bno08x/Bno08xHandler.h"
#include "handlers/pca9685/Pca9685Handler.h"
#include "handlers/pcal95555/Pcal95555Handler.h"
#include "handlers/ntc/NtcTemperatureHandler.h"
#include "handlers/tmc9660/Tmc9660Handler.h"
#include "handlers/logger/Logger.h"
#include "RtosMutex.h"
#include <memory>
#include <atomic>
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

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Classes
struct	HandlerTaskArgs

Functions
static bool	test_i2c_bus_scan () noexcept
static bool	test_i2c_multi_device_init () noexcept
static bool	test_logger_singleton_across_handlers () noexcept
static void	i2c_handler_task (void *arg)
static bool	test_concurrent_i2c_access () noexcept
static bool	test_mutex_protected_handler () noexcept
void	app_main (void)

Variables
static const char *	TAG = "Integration_Test"
static TestResults	g_test_results
static constexpr bool	ENABLE_BUS_SCAN_TESTS = true
static constexpr bool	ENABLE_I2C_MULTI_DEVICE_TESTS = true
static constexpr bool	ENABLE_LOGGER_INTEGRATION_TESTS = true
static constexpr bool	ENABLE_CONCURRENT_HANDLER_TESTS = true
static constexpr bool	ENABLE_RTOS_INTEGRATION_TESTS = true

Detailed Description

Full system integration test for hf-core.

Tests multi-handler concurrent operation on shared I2C/SPI buses, RTOS threading with handlers, Logger integration, and end-to-end data flow from hardware through handlers to application layer.

Note

This test exercises the real system architecture:

• Shared I2C bus: BNO08x + PCA9685 + PCAL95555
• Shared SPI bus: AS5047U + TMC9660
• ADC: NTC thermistor
• Logger: Singleton across all handlers
• RtosMutex: Thread safety in concurrent access

Author

HardFOC Team

Date

2025-2026

Copyright

GPL-3.0-or-later

Function Documentation

app_main()

void app_main

(

void

)

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i2c_handler_task()

static void i2c_handler_task ( void * arg )

static

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test_concurrent_i2c_access()

static bool test_concurrent_i2c_access ( )

staticnoexcept

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test_i2c_bus_scan()

static bool test_i2c_bus_scan ( )

staticnoexcept

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test_i2c_multi_device_init()

static bool test_i2c_multi_device_init ( )

staticnoexcept

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test_logger_singleton_across_handlers()

static bool test_logger_singleton_across_handlers ( )

staticnoexcept

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test_mutex_protected_handler()

static bool test_mutex_protected_handler ( )

staticnoexcept

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Variable Documentation

ENABLE_BUS_SCAN_TESTS

constexpr bool ENABLE_BUS_SCAN_TESTS = true

staticconstexpr

ENABLE_CONCURRENT_HANDLER_TESTS

constexpr bool ENABLE_CONCURRENT_HANDLER_TESTS = true

staticconstexpr

ENABLE_I2C_MULTI_DEVICE_TESTS

constexpr bool ENABLE_I2C_MULTI_DEVICE_TESTS = true

staticconstexpr

ENABLE_LOGGER_INTEGRATION_TESTS

constexpr bool ENABLE_LOGGER_INTEGRATION_TESTS = true

staticconstexpr

ENABLE_RTOS_INTEGRATION_TESTS

constexpr bool ENABLE_RTOS_INTEGRATION_TESTS = true

staticconstexpr

g_test_results

TestResults g_test_results

static

TAG

const char* TAG = "Integration_Test"

static