from pathlib import Path import re ROOT = Path(__file__).resolve().parents[1] def _read(path: str) -> str: return (ROOT / path).read_text(encoding="utf-8") def _const(source: str, ctype: str, name: str) -> float: match = re.search(rf"const\s+{ctype}\s+{name}\s*=\s*([\d.]+)", source) assert match, f"Missing {ctype} constant {name}" return float(match.group(1)) def test_rocket_ignition_command_requires_armed_state(): rocket = _read("Firmware/Rocket/src/main.cpp") assert 'cmdBuffer == Project33Protocol::CMD_IGNITE && sysState == "ARMED"' in rocket def test_launcher_udp_launch_requires_ready_state(): launcher = _read("Firmware/Launcher/src/main.cpp") assert 'if (currentState == READY) {' in launcher assert "udpLaunchTriggered = true;" in launcher assert 'sendToDashboard(Project33Protocol::CMD_REJECT_LAUNCH_NOT_READY)' in launcher def test_firmware_exposes_onboard_log_dump_command(): rocket = _read("Firmware/Rocket/src/main.cpp") launcher = _read("Firmware/Launcher/src/main.cpp") assert "recordFlightSample(current_time, roll, rate_deg_s, servo_offset);" in rocket assert 'cmdBuffer == Project33Protocol::CMD_DUMPLOG' in rocket assert "dumpFlightLog();" in rocket assert 'msg == Project33Protocol::DASHBOARD_DUMPLOG' in launcher assert "Serial2.println(Project33Protocol::CMD_DUMPLOG);" in launcher assert 'msg.startsWith(Project33Protocol::LOG_PREFIX)' in launcher def test_deploy_isr_integration(): rocket = _read("Firmware/Rocket/src/main.cpp") isr_cpp = _read("Firmware/Rocket/src/deploy_isr.cpp") assert '#include "deploy_isr.h"' in rocket assert 'init_project_33_deploy_system();' in rocket assert 'IRAM_ATTR' in isr_cpp assert 'fins_deployed' in isr_cpp def test_rocket_gpio_assignments_are_unique(): rocket = _read("Firmware/Rocket/src/main.cpp") isr_cpp = _read("Firmware/Rocket/src/deploy_isr.cpp") pins = {} for name in ( "RX2_PIN", "TX2_PIN", "IGNITE_SERVO_PIN", "LEFT_SERVO_PIN", "RIGHT_SERVO_PIN", "UP_SERVO_PIN", "DOWN_SERVO_PIN", ): pins[name] = int(_const(rocket, "int", name)) pins["DEPLOY_OUTPUT_PIN"] = int(_const(isr_cpp, "int", "DEPLOY_OUTPUT_PIN")) i2c = re.search(r"Wire\.begin\((\d+),\s*(\d+)\)", rocket) assert i2c, "Rocket firmware should configure the I2C bus explicitly" pins["I2C_SDA"] = int(i2c.group(1)) pins["I2C_SCL"] = int(i2c.group(2)) duplicates = { pin: [name for name, assigned in pins.items() if assigned == pin] for pin in pins.values() if list(pins.values()).count(pin) > 1 } assert not duplicates, f"GPIO pins assigned to multiple functions: {duplicates}" def test_deploy_trigger_uses_consistent_units_and_reachable_threshold(): rocket = _read("Firmware/Rocket/src/main.cpp") isr_cpp = _read("Firmware/Rocket/src/deploy_isr.cpp") # The Adafruit MPU6050 driver reports acceleration in m/s², so the loop # comparison must use the m/s² constant, never the raw g value. assert "a.acceleration.x > DEPLOY_ACCEL_THRESHOLD_MS2" in rocket assert "a.acceleration.x > DEPLOY_ACCEL_THRESHOLD_G" not in rocket assert re.search( r"DEPLOY_ACCEL_THRESHOLD_MS2\s*=\s*DEPLOY_ACCEL_THRESHOLD_G\s*\*\s*9\.80665", isr_cpp, ), "m/s² threshold should be derived from the g threshold" # The configured accelerometer range must be able to observe the # threshold, otherwise deployment can never trigger. threshold_g = _const(isr_cpp, "float", "DEPLOY_ACCEL_THRESHOLD_G") range_match = re.search(r"MPU6050_RANGE_(\d+)_G", rocket) assert range_match, "Rocket firmware should configure the accelerometer range" assert threshold_g < int(range_match.group(1)), ( f"Deploy threshold {threshold_g}g exceeds the ±{range_match.group(1)}g " "accelerometer range and could never fire" ) def test_deploy_trigger_requires_armed_state(): rocket = _read("Firmware/Rocket/src/main.cpp") assert 'sysState != "IDLE" && a.acceleration.x > DEPLOY_ACCEL_THRESHOLD_MS2' in rocket def test_roll_filter_blends_accel_only_with_valid_gravity_reference(): rocket = _read("Firmware/Rocket/src/main.cpp") # Accel roll is only meaningful near 1g: boost reads thrust+gravity and # coast reads near free-fall, where atan2 of near-zero axes is noise. assert "fabs(accel_mag - GRAVITY_MS2) <= ACCEL_GRAVITY_BAND_MS2" in rocket assert 'sysState != "FLIGHT"' in rocket gravity = _const(rocket, "float", "GRAVITY_MS2") band = _const(rocket, "float", "ACCEL_GRAVITY_BAND_MS2") assert 0 < band < gravity, "gravity validity band should be a strict sub-1g window" def test_no_rocket_message_can_be_mistaken_for_ready_or_ignited(): # The launcher matches rocket messages with indexOf("READY") and indexOf("IGNITED"): # any other rocket-to-launcher text containing those substrings would be read as a # readiness handshake or an ignition acknowledgement. import json launcher = _read("Firmware/Launcher/src/main.cpp") rocket = _read("Firmware/Rocket/src/main.cpp") assert "msg.indexOf(Project33Protocol::READY) != -1" in launcher assert "msg.indexOf(Project33Protocol::IGNITED) != -1" in launcher constants = json.loads(_read("protocol/project33_protocol.json"))["firmware_constants"] texts = {name: value for name, value in constants.items() if name not in ("READY", "IGNITED")} texts.update({f"state {state}": state for state in re.findall(r'sysState = "([A-Z_]+)"', rocket)}) texts.update({f"literal {text}": text for text in re.findall(r'Serial2\.println\("([^"]*)"\)', rocket)}) offenders = {name: text for name, text in texts.items() if "READY" in text or "IGNITED" in text} assert offenders == {}, f"Rocket-side text would trigger launcher substring matches: {offenders}" def test_rocket_refusals_reach_the_telemetry_record(): rocket = _read("Firmware/Rocket/src/main.cpp") launcher = _read("Firmware/Launcher/src/main.cpp") for constant in ("CMD_REJECT_IGNITE_FINS_NOT_DEPLOYED", "CMD_REJECT_IGNITE_NOT_ARMED", "CMD_REJECT_ARM_NOT_IDLE", "CMD_REJECT_SENSOR_UNAVAILABLE"): assert f"Serial2.println(Project33Protocol::{constant}" in rocket or \ f"Project33Protocol::{constant}" in rocket, constant # The launcher forwards every CMD_REJECT line from the rocket to the dashboard CSV. assert 'msg.startsWith("CMD_REJECT:")' in launcher def test_rejection_logging_does_not_reorder_or_weaken_gates(): rocket = _read("Firmware/Rocket/src/main.cpp") gated_arm = rocket.index('cmdBuffer == Project33Protocol::CMD_ARM && sysState == "IDLE" && mpuHealthy') gated_ignite = rocket.index('cmdBuffer == Project33Protocol::CMD_IGNITE && sysState == "ARMED" && mpuHealthy') reject_ignite = rocket.index("else if (cmdBuffer == Project33Protocol::CMD_IGNITE) {") reject_arm = rocket.index("else if (cmdBuffer == Project33Protocol::CMD_ARM) {") # The ungated rejection branches come after the gated branches, so they only run # when the gate did not match, and they only print. assert gated_arm < gated_ignite < reject_ignite < reject_arm for start in (reject_ignite, reject_arm): body = rocket[start:rocket.index("}", start)] assert "sysState =" not in body and ".write(" not in body def test_launcher_reports_missing_altitude_as_nan_not_zero(): launcher = _read("Firmware/Launcher/src/main.cpp") assert "float altOut = bmpHealthy ? filteredAlt : NAN;" in launcher def test_safety_gate_registry_matches_firmware_source(): import json gates = json.loads(_read("evidence/safety_gates.json"))["gates"] assert len({g["id"] for g in gates}) == len(gates) failures = [] for gate in gates: for check in gate["source"]: text = _read(check["path"]) if "contains" in check and check["contains"] not in text: failures.append(f"{gate['id']}: missing in {check['path']}: {check['contains']}") if "absent" in check and check["absent"] in text: failures.append(f"{gate['id']}: must not appear in {check['path']}: {check['absent']}") assert failures == []