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- /* Copyright 2021 Balz Guenat
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- */
-
- #include "gtest/gtest.h"
- #include "gmock/gmock.h"
- #include <vector>
- #include <algorithm>
- #include <stdio.h>
-
- extern "C" {
- #include "encoder.h"
- #include "encoder/tests/mock_split.h"
- }
-
- struct update {
- int8_t index;
- bool clockwise;
- };
-
- uint8_t updates_array_idx = 0;
- update updates[32];
-
- bool isLeftHand;
-
- bool encoder_update_kb(uint8_t index, bool clockwise) {
- if (!isLeftHand) {
- // this method has no effect on slave half
- printf("ignoring update on right hand (%d,%s)\n", index, clockwise ? "CW" : "CC");
- return true;
- }
- updates[updates_array_idx % 32] = {index, clockwise};
- updates_array_idx++;
- return true;
- }
-
- bool setAndRead(pin_t pin, bool val) {
- setPin(pin, val);
- return encoder_read();
- }
-
- class EncoderSplitTestLeftEqRight : public ::testing::Test {
- protected:
- void SetUp() override {
- updates_array_idx = 0;
- for (int i = 0; i < 32; i++) {
- pinIsInputHigh[i] = 0;
- pins[i] = 0;
- }
- }
- };
-
- TEST_F(EncoderSplitTestLeftEqRight, TestInitLeft) {
- isLeftHand = true;
- encoder_init();
- EXPECT_EQ(pinIsInputHigh[0], true);
- EXPECT_EQ(pinIsInputHigh[1], true);
- EXPECT_EQ(pinIsInputHigh[2], true);
- EXPECT_EQ(pinIsInputHigh[3], true);
- EXPECT_EQ(pinIsInputHigh[4], false);
- EXPECT_EQ(pinIsInputHigh[5], false);
- EXPECT_EQ(pinIsInputHigh[6], false);
- EXPECT_EQ(pinIsInputHigh[7], false);
- EXPECT_EQ(updates_array_idx, 0); // no updates received
- }
-
- TEST_F(EncoderSplitTestLeftEqRight, TestInitRight) {
- isLeftHand = false;
- encoder_init();
- EXPECT_EQ(pinIsInputHigh[0], false);
- EXPECT_EQ(pinIsInputHigh[1], false);
- EXPECT_EQ(pinIsInputHigh[2], false);
- EXPECT_EQ(pinIsInputHigh[3], false);
- EXPECT_EQ(pinIsInputHigh[4], true);
- EXPECT_EQ(pinIsInputHigh[5], true);
- EXPECT_EQ(pinIsInputHigh[6], true);
- EXPECT_EQ(pinIsInputHigh[7], true);
- EXPECT_EQ(updates_array_idx, 0); // no updates received
- }
-
- TEST_F(EncoderSplitTestLeftEqRight, TestOneClockwiseLeft) {
- isLeftHand = true;
- encoder_init();
- // send 4 pulses. with resolution 4, that's one step and we should get 1 update.
- setAndRead(0, false);
- setAndRead(1, false);
- setAndRead(0, true);
- setAndRead(1, true);
-
- EXPECT_EQ(updates_array_idx, 1); // one update received
- EXPECT_EQ(updates[0].index, 0);
- EXPECT_EQ(updates[0].clockwise, true);
- }
-
- TEST_F(EncoderSplitTestLeftEqRight, TestOneClockwiseRightSent) {
- isLeftHand = false;
- encoder_init();
- // send 4 pulses. with resolution 4, that's one step and we should get 1 update.
- setAndRead(6, false);
- setAndRead(7, false);
- setAndRead(6, true);
- setAndRead(7, true);
-
- uint8_t slave_state[32] = {0};
- encoder_state_raw(slave_state);
-
- EXPECT_EQ(slave_state[0], 0);
- EXPECT_EQ(slave_state[1], 0xFF);
- }
-
- TEST_F(EncoderSplitTestLeftEqRight, TestMultipleEncodersRightReceived) {
- isLeftHand = true;
- encoder_init();
-
- uint8_t slave_state[32] = {1, 0xFF}; // First right encoder is CCW, Second right encoder CW
- encoder_update_raw(slave_state);
-
- EXPECT_EQ(updates_array_idx, 2); // two updates received, one for each changed item on the right side
- EXPECT_EQ(updates[0].index, 2);
- EXPECT_EQ(updates[0].clockwise, false);
- EXPECT_EQ(updates[1].index, 3);
- EXPECT_EQ(updates[1].clockwise, true);
- }
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