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135 lines
4.0 KiB
135 lines
4.0 KiB
/* 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 updates_array_idx = 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[updates_array_idx % 32] = {index, clockwise};
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updates_array_idx++;
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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 EncoderSplitTestLeftEqRight : public ::testing::Test {
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protected:
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void SetUp() override {
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updates_array_idx = 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(EncoderSplitTestLeftEqRight, 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], true);
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EXPECT_EQ(pinIsInputHigh[3], true);
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EXPECT_EQ(pinIsInputHigh[4], false);
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EXPECT_EQ(pinIsInputHigh[5], false);
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EXPECT_EQ(pinIsInputHigh[6], false);
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EXPECT_EQ(pinIsInputHigh[7], false);
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EXPECT_EQ(updates_array_idx, 0); // no updates received
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}
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TEST_F(EncoderSplitTestLeftEqRight, 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], false);
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EXPECT_EQ(pinIsInputHigh[3], false);
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EXPECT_EQ(pinIsInputHigh[4], true);
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EXPECT_EQ(pinIsInputHigh[5], true);
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EXPECT_EQ(pinIsInputHigh[6], true);
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EXPECT_EQ(pinIsInputHigh[7], true);
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EXPECT_EQ(updates_array_idx, 0); // no updates received
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}
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TEST_F(EncoderSplitTestLeftEqRight, 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(updates_array_idx, 1); // one update received
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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(EncoderSplitTestLeftEqRight, 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(6, false);
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setAndRead(7, false);
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setAndRead(6, true);
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setAndRead(7, true);
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uint8_t slave_state[32] = {0};
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encoder_state_raw(slave_state);
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EXPECT_EQ(slave_state[0], 0);
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EXPECT_EQ(slave_state[1], 0xFF);
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}
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TEST_F(EncoderSplitTestLeftEqRight, TestMultipleEncodersRightReceived) {
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isLeftHand = true;
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encoder_init();
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uint8_t slave_state[32] = {1, 0xFF}; // First right encoder is CCW, Second right encoder CW
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encoder_update_raw(slave_state);
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EXPECT_EQ(updates_array_idx, 2); // two updates received, one for each changed item on the right side
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EXPECT_EQ(updates[0].index, 2);
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EXPECT_EQ(updates[0].clockwise, false);
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EXPECT_EQ(updates[1].index, 3);
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EXPECT_EQ(updates[1].clockwise, true);
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}
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