144 lines
3.8 KiB
C++
144 lines
3.8 KiB
C++
/* Copyright 2021 Balz Guenat
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "gtest/gtest.h"
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#include "gmock/gmock.h"
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#include <vector>
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#include <algorithm>
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#include <stdio.h>
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extern "C" {
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#include "encoder.h"
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#include "encoder/tests/mock_split.h"
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}
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struct update {
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int8_t index;
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bool clockwise;
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};
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uint8_t uidx = 0;
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update updates[32];
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bool isLeftHand;
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bool encoder_update_kb(uint8_t index, bool clockwise) {
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if (!isLeftHand) {
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// this method has no effect on slave half
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printf("ignoring update on right hand (%d,%s)\n", index, clockwise ? "CW" : "CC");
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return true;
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}
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updates[uidx % 32] = {index, clockwise};
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uidx++;
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return true;
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}
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bool setAndRead(pin_t pin, bool val) {
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setPin(pin, val);
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return encoder_read();
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}
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class EncoderTest : public ::testing::Test {
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protected:
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void SetUp() override {
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uidx = 0;
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for (int i = 0; i < 32; i++) {
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pinIsInputHigh[i] = 0;
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pins[i] = 0;
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}
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}
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};
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TEST_F(EncoderTest, TestInitLeft) {
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isLeftHand = true;
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encoder_init();
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EXPECT_EQ(pinIsInputHigh[0], true);
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EXPECT_EQ(pinIsInputHigh[1], true);
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EXPECT_EQ(pinIsInputHigh[2], false);
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EXPECT_EQ(pinIsInputHigh[3], false);
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EXPECT_EQ(uidx, 0);
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}
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TEST_F(EncoderTest, TestInitRight) {
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isLeftHand = false;
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encoder_init();
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EXPECT_EQ(pinIsInputHigh[0], false);
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EXPECT_EQ(pinIsInputHigh[1], false);
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EXPECT_EQ(pinIsInputHigh[2], true);
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EXPECT_EQ(pinIsInputHigh[3], true);
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EXPECT_EQ(uidx, 0);
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}
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TEST_F(EncoderTest, TestOneClockwiseLeft) {
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isLeftHand = true;
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encoder_init();
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// send 4 pulses. with resolution 4, that's one step and we should get 1 update.
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setAndRead(0, false);
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setAndRead(1, false);
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setAndRead(0, true);
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setAndRead(1, true);
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EXPECT_EQ(uidx, 1);
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EXPECT_EQ(updates[0].index, 0);
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EXPECT_EQ(updates[0].clockwise, true);
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}
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TEST_F(EncoderTest, TestOneClockwiseRightSent) {
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isLeftHand = false;
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encoder_init();
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// send 4 pulses. with resolution 4, that's one step and we should get 1 update.
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setAndRead(2, false);
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setAndRead(3, false);
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setAndRead(2, true);
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setAndRead(3, true);
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uint8_t slave_state[2] = {0};
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encoder_state_raw(slave_state);
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EXPECT_EQ((int8_t)slave_state[0], -1);
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}
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/* this test will not work after the previous test.
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* this is due to encoder_value[1] already being set to -1 when simulating the right half.
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* When we now receive this update acting as the left half, there is no change.
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* This is hard to mock, as the static values inside encoder.c normally exist twice, once on each half,
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* but here, they only exist once.
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*/
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// TEST_F(EncoderTest, TestOneClockwiseRightReceived) {
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// isLeftHand = true;
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// encoder_init();
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// uint8_t slave_state[2] = {255, 0};
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// encoder_update_raw(slave_state);
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// EXPECT_EQ(uidx, 1);
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// EXPECT_EQ(updates[0].index, 1);
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// EXPECT_EQ(updates[0].clockwise, true);
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// }
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TEST_F(EncoderTest, TestOneCounterClockwiseRightReceived) {
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isLeftHand = true;
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encoder_init();
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uint8_t slave_state[2] = {0, 0};
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encoder_update_raw(slave_state);
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EXPECT_EQ(uidx, 1);
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EXPECT_EQ(updates[0].index, 1);
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EXPECT_EQ(updates[0].clockwise, false);
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}
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