skullc-peripherals/Tests/coro.cpp

//
// Created by erki on 30/01/25.
//

#include <catch2/catch.hpp>

#include "skullc/coro/scheduler.hpp"
#include "skullc/coro/semaphore.hpp"
#include "skullc/coro/signal.hpp"
#include "skullc/coro/sleep.hpp"
#include "skullc/coro/task.hpp"
#include "skullc/coro/this_coro.hpp"
#include "skullc/coro/composition.hpp"

#include <semaphore>

namespace
{

int test_coro_called = 0;

using namespace std::chrono_literals;

skullc::coro::Task<> test_coro(const int expected)
{
  REQUIRE(expected == test_coro_called);
  test_coro_called++;
  co_return;
}

skullc::coro::Task<> test_sleepy_coro(const int expected, const std::chrono::duration<uint32_t, std::milli>& duration = 10ms)
{
  co_await skullc::coro::sleep(0ms, duration);
  REQUIRE(expected == test_coro_called);
  test_coro_called++;
  co_return;
}

template<typename T>
skullc::coro::Task<> test_semaphore_coro(T* semaphore, const int expected)
{
  co_await skullc::coro::await_semaphore(*semaphore);
  REQUIRE(expected == test_coro_called);
  test_coro_called++;
  co_return;
}

}// namespace

TEST_CASE("Scheduler runs coroutines.", "[coro]")
{
  using namespace skullc::coro;


  Scheduler<std::vector> scheduler;
  skullc::this_coro::scheduler.register_scheduler(scheduler);

  test_coro_called = 0;

  SECTION("With a single coroutine.")
  {
    scheduler.start_tasks(test_coro(0));
    scheduler.loop(0);

    REQUIRE(test_coro_called == 1);
  }


  SECTION("With two coroutines.")
  {
    scheduler.start_tasks(test_coro(0), test_coro(1));
    scheduler.loop(0);

    REQUIRE(test_coro_called == 2);
  }

  SECTION("With a single sleepy coroutine.")
  {
    using namespace std::chrono_literals;

    scheduler.start_tasks(test_sleepy_coro(0));
    scheduler.loop(0);

    REQUIRE(test_coro_called == 0);

    const std::chrono::duration<uint32_t, std::milli> half_sleep = 5ms;
    scheduler.loop(half_sleep.count());
    REQUIRE(test_coro_called == 0);

    const std::chrono::duration<uint32_t, std::milli> full_sleep = 11ms;
    scheduler.loop(full_sleep.count());
    REQUIRE(test_coro_called == 1);
  }

  SECTION("With a semaphore awaiter.")
  {
    std::binary_semaphore semaphore{0};
    std::counting_semaphore<10> counting_semaphore{0};

    scheduler.start_tasks(
            test_semaphore_coro(&semaphore, 0),
            test_semaphore_coro(&counting_semaphore, 1));
    scheduler.loop(0);

    REQUIRE(test_coro_called == 0);

    semaphore.release(1);
    scheduler.loop(1);
    scheduler.loop(2);

    REQUIRE(test_coro_called == 1);

    counting_semaphore.release(1);
    scheduler.loop(3);
    scheduler.loop(4);

    REQUIRE(test_coro_called == 2);
  }

  SECTION("Coros scheduled for the same millisecond get executed with the same time.")
  {
    scheduler.start_tasks(
            test_sleepy_coro(0, std::chrono::milliseconds{2}),
            test_sleepy_coro(1, std::chrono::milliseconds{2}));

    scheduler.loop(0);
    scheduler.loop(0);
    scheduler.loop(0);

    REQUIRE(test_coro_called == 0);

    scheduler.loop(2);
    scheduler.loop(2);

    REQUIRE(test_coro_called == 2);
  }
}

#include "skullc/coro/peripheral_awaiters.hpp"

namespace
{

struct TestGpio
{
  bool is_set = false;

  void set(const bool value)
  {
    is_set = value;
  }

  void toggle()
  {
    is_set = !is_set;
  }

  bool read() const
  {
    return is_set;
  }
};

skullc::coro::Task<> await_edge(TestGpio* pin, const Peripherals::Hal::Edge edge)
{
  co_await skullc::coro::PinEdgeAwaiter(pin, edge);
  test_coro_called = 1;

  co_return;
}

}// namespace

TEST_CASE("Peripheral awaiters work.", "[coro],[awaiters]")
{
  using namespace skullc::coro;
  Scheduler<std::vector> scheduler;
  skullc::this_coro::scheduler.register_scheduler(scheduler);

  test_coro_called = 0;

  SECTION("Pin edge awaiter works with rising edge.")
  {
    TestGpio gpio{false};
    scheduler.start_tasks(await_edge(&gpio, Peripherals::Hal::Edge::Rising));
    scheduler.loop(0);

    REQUIRE(test_coro_called == 0);

    SECTION("Keeping low generates no edge.")
    {
      scheduler.loop(1);
      scheduler.loop(2);
      scheduler.loop(3);

      REQUIRE(test_coro_called == 0);
    }

    SECTION("Raising generated a rising edge.")
    {
      gpio.is_set = true;
      scheduler.loop(1);
      scheduler.loop(2);

      REQUIRE(test_coro_called == 1);
    }
  }

  SECTION("Pin edge awaiter works with falling edge.")
  {
    TestGpio gpio{true};
    scheduler.start_tasks(await_edge(&gpio, Peripherals::Hal::Edge::Falling));
    scheduler.loop(0);

    REQUIRE(test_coro_called == 0);

    SECTION("Keeping high generates no edge.")
    {
      scheduler.loop(1);
      scheduler.loop(2);
      scheduler.loop(3);

      REQUIRE(test_coro_called == 0);
    }

    SECTION("Falling generated a falling edge.")
    {
      gpio.is_set = false;
      scheduler.loop(1);
      scheduler.loop(2);

      REQUIRE(test_coro_called == 1);
    }
  }
}

namespace
{

skullc::coro::Task<> await_signal(const int expected, skullc::coro::Signal<int>* signal)
{
  const int value = co_await signal->receive();
  REQUIRE(value == expected);
  test_coro_called = 1;
  co_return;
}

skullc::coro::Task<> await_signal_n(const auto& expecteds, skullc::coro::Signal<int>* signal)
{
  for (const int e : expecteds)
  {
    const int value = co_await signal->receive();
    REQUIRE(value == e);
    test_coro_called++;
  }
  co_return;
}

skullc::coro::Task<> send_signal(const int value, skullc::coro::Signal<int>* signal)
{
  co_await skullc::coro::sleep(0ms, 10ms);
  signal->send(value);

  co_return;
}

}// namespace

TEST_CASE("Signal awaiters work.", "[coro],[signal]")
{
  using namespace skullc::coro;
  Scheduler<std::vector> scheduler;
  skullc::this_coro::scheduler.register_scheduler(scheduler);

  test_coro_called = 0;

  Signal<int> signal;

  SECTION("Sending from main thread.")
  {
    scheduler.start_tasks(await_signal(10, &signal));
    scheduler.loop(0);
    scheduler.loop(1);
    REQUIRE(test_coro_called == 0);

    signal.send(10);
    scheduler.loop(2);
    REQUIRE(test_coro_called == 1);
  }

  SECTION("Sending from another coroutine.")
  {
    scheduler.start_tasks(await_signal(10, &signal), send_signal(10, &signal));
    scheduler.loop(0);
    scheduler.loop(1);
    REQUIRE(test_coro_called == 0);

    scheduler.loop(10);
    REQUIRE(test_coro_called == 0);
    scheduler.loop(10);
    REQUIRE(test_coro_called == 1);
  }

  const std::vector<int> values = {10, 11, 13};

  SECTION("Sending multiple values.")
  {
    scheduler.start_tasks(await_signal_n(values, &signal));
    scheduler.loop(0);
    scheduler.loop(1);
    REQUIRE(test_coro_called == 0);

    for (int i = 0; i < values.size(); i++)
    {
      signal.send(values[i]);
      scheduler.loop(i + 1);
      REQUIRE(test_coro_called == i + 1);
    }
  }
}

namespace
{

skullc::coro::Task<int> test_sleepy_coro_return(const int expected, const std::chrono::duration<uint32_t, std::milli>& duration = 10ms)
{
  co_await skullc::coro::sleep(0ms, duration);
  REQUIRE(expected == test_coro_called);
  test_coro_called++;
  co_return expected;
}

skullc::coro::Task<> test_wait_all()
{
  auto val = co_await skullc::coro::wait_all(
    test_sleepy_coro(0, 10ms),
    test_sleepy_coro_return(1, 20ms)
  );

  REQUIRE(std::get<0>(val) == std::monostate{});
  REQUIRE(std::get<1>(val) == 1);

  co_return;
}

skullc::coro::Task<> testwait_first()
{
  auto val = co_await skullc::coro::wait_first(
    test_sleepy_coro_return(0, 10ms),
    test_sleepy_coro_return(1, 20ms)
  );

  REQUIRE(std::get<0>(val) == 0);
  REQUIRE(std::get<1>(val) == std::nullopt);

  co_return;
}

}

TEST_CASE("Wait all awaiter works.", "[coro],[wait_all]")
{
  using namespace skullc::coro;
  Scheduler<std::vector> scheduler;
  skullc::this_coro::scheduler.register_scheduler(scheduler);

  test_coro_called = 0;

  scheduler.start_tasks(test_wait_all());
  scheduler.loop(0);
  scheduler.loop(0);
  scheduler.loop(0);

  REQUIRE(test_coro_called == 0);
  scheduler.loop(10);
  scheduler.loop(10);

  REQUIRE(test_coro_called == 1);
  scheduler.loop(20);
  scheduler.loop(20);
  scheduler.loop(20);

  REQUIRE(test_coro_called == 2);
}

TEST_CASE("Wait one awaiter works.", "[coro],[wait_first]")
{
  using namespace skullc::coro;
  Scheduler<std::vector> scheduler;
  skullc::this_coro::scheduler.register_scheduler(scheduler);

  test_coro_called = 0;

  scheduler.start_tasks(testwait_first());
  scheduler.loop(0);
  scheduler.loop(0);
  scheduler.loop(0);

  REQUIRE(test_coro_called == 0);
  scheduler.loop(10);
  scheduler.loop(10);

  REQUIRE(test_coro_called == 1);
  scheduler.loop(20);
  scheduler.loop(20);
  scheduler.loop(20);

  REQUIRE(test_coro_called == 1);
}