Added a super fun copy target and a state test

Author: Ezra Boley

Makefile

@@ -23,6 +23,10 @@ ifdef LOCAL
 NOI2C := NOI2C
 endif
 
+USER   := "debian"
+LV_IP  := "192.168.7.2"
+HV_IP  := "192.168.7.3"
+
 ifdef BB
 BEAGLE := ${BBCC}
 endif
@@ -59,12 +63,17 @@ UTL_OBJ		:= $(addprefix $(OBJ_DIR)/,$(addsuffix .o,$(basename $(ALL_UTL))))
 # .SEC keeps intermediates, so make doesnt automatically clean .o files
 .SECONDARY:
 
-all: $(TARGETS)
 
+all: $(TARGETS)
+	
 examples: $(EXAMPLES)
 
 utils: $(UTILS)
 
+copy:
+	-scp -q -o ConnectTimeout=2 -r $(OUTPUT_DIR) $(USER)@$(LV_IP):~/bin &
+	-scp -q -o ConnectTimeout=2 -r $(OUTPUT_DIR) $(USER)@$(HV_IP):~/bin &
+
 $(OUTPUT_DIR)/%: $(GEN_OBJ) $(OBJ_DIR)/%.o
 	$(GPP) $(LDFLAGS) $^ $(LDLIBS) -o $@
 

embedded/examples/stateTest.c

@@ -5,6 +5,7 @@
 #include <pthread.h>
 #include <semaphore.h>
 #include <state_machine.h>
+#include <states.h>
 
 #define PASS 0
 #define FAIL 1
@@ -133,6 +134,35 @@ static int navMissedRetroTest()
     return ASSERT_STATE_IS(RUN_FAULT_NAME);
     }
 
+static int crawlTimerTest()
+    {
+    FREEZE_SM;
+    genericInit("Crawl Timer Test");
+    goToState(CRAWL_NAME);
+    UNFREEZE_SM;
+
+    WAIT(.5);
+
+    if (checkForChange(CRAWL_NAME) != PASS) return FAIL;
+    
+
+    printf("check\n");
+
+    uint64_t offset = getuSTimestamp();
+    
+    for (int i = 0; i < (30 * 5); i++) {
+        printf("crawl timer: %llu\r", getuSTimestamp() - data->timers->crawlTimer);
+        fflush(stdin);
+        usleep(200000);
+    }
+   
+    WAIT(.2);
+
+    return ASSERT_STATE_IS(BRAKING_NAME);
+
+    }
+
+
 /* PV depressurizing.*/
 static int pvDepressurizingTest()
     {
@@ -197,7 +227,8 @@ int main() {
     }
     if (pthread_create(&smThread, NULL, stateMachineLoop, NULL) != 0)
         return -1;
-    WAIT(1);
+    WAIT(.5);
+    RUN_TEST(crawlTimerTest);
     RUN_TEST(hvBattSOCLowTest);
     RUN_TEST(hvBattLowVoltTest);
     RUN_TEST(rmsOverheatTest);