GCC Code Coverage Report

Directory: ./
File: unit_tests/tests/actuators/test_dc_motor.cpp
Date: 2025-10-03 00:57:22
Coverage Exec Excl Total
Lines: 100.0% 97 0 97
Functions: 100.0% 24 0 24
Branches: 84.0% 126 0 150
Decisions: -% 0 - 0
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1 #include "pch.h"
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3 #include "dc_motor.h"
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5 using ::testing::InSequence;
6 using ::testing::NiceMock;
7 using ::testing::StrictMock;
8
9 4 TEST(DcMotor, Disable) {
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 1 StrictMock<MockOutputPin> dpin;
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 3 EXPECT_CALL(dpin, setValue(1, testing::_))
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 3 .Times(2); // happens twice - once for initial disable, once for set(0)
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 1 TwoPinDcMotor dut(dpin);
16 2 }
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18 4 TEST(DcMotor, Disable2) {
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 1 StrictMock<MockOutputPin> dpin;
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 1 EXPECT_CALL(dpin, setValue(1, testing::_)).Times(4);
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 1 TwoPinDcMotor dut(dpin);
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 1 dut.disable(nullptr);
26 2 }
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28 4 TEST(DcMotor, Enable) {
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 1 StrictMock<MockOutputPin> dpin;
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31 {
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 1 InSequence is;
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34 // Construction disables
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 1 EXPECT_CALL(dpin, setValue(1, testing::_)).Times(2);
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37 // Then enable
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 1 EXPECT_CALL(dpin, setValue(0, testing::_));
39 1 }
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 1 TwoPinDcMotor dut(dpin);
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 1 dut.enable();
43 2 }
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45 4 TEST(DcMotor, SetUnconfigured) {
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 1 StrictMock<MockOutputPin> dpin;
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 1 EXPECT_CALL(dpin, setValue(1, testing::_)).Times(3);
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 1 TwoPinDcMotor dut(dpin);
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 1 EXPECT_FLOAT_EQ(dut.get(), 0);
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 1 EXPECT_NO_THROW(dut.set(0.5f));
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53 // Readback should work even without configuration
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 1 EXPECT_FLOAT_EQ(dut.get(), 0.5f);
55 2 }
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57 4 TEST(DcMotor, PwmEnablePinModePositive) {
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 1 NiceMock<MockOutputPin> dpin;
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 1 TwoPinDcMotor dut(dpin);
60 1 dut.setType(TwoPinDcMotor::ControlType::PwmEnablePin);
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 1 MockPwm enable;
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 1 MockPwm dir1;
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 1 MockPwm dir2;
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 1 EXPECT_CALL(enable, setSimplePwmDutyCycle(0.5f));
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 1 EXPECT_CALL(dir1, setSimplePwmDutyCycle(1));
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 1 EXPECT_CALL(dir2, setSimplePwmDutyCycle(0));
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 1 dut.configure(enable, dir1, dir2, false);
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 1 dut.set(0.5f);
72 2 }
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74 4 TEST(DcMotor, PwmEnablePinModeNegative) {
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 1 NiceMock<MockOutputPin> dpin;
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 1 TwoPinDcMotor dut(dpin);
77 1 dut.setType(TwoPinDcMotor::ControlType::PwmEnablePin);
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 1 MockPwm enable;
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 1 MockPwm dir1;
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 1 MockPwm dir2;
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 1 EXPECT_CALL(enable, setSimplePwmDutyCycle(0.5f));
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 1 EXPECT_CALL(dir1, setSimplePwmDutyCycle(0));
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 1 EXPECT_CALL(dir2, setSimplePwmDutyCycle(1));
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 1 dut.configure(enable, dir1, dir2, false);
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 1 dut.set(-0.5f);
90 2 }
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92 4 TEST(DcMotor, PwmDirectionPinsModePositive) {
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 1 NiceMock<MockOutputPin> dpin;
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 1 TwoPinDcMotor dut(dpin);
95 1 dut.setType(TwoPinDcMotor::ControlType::PwmDirectionPins);
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 1 MockPwm enable;
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 1 MockPwm dir1;
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 1 MockPwm dir2;
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 1 EXPECT_CALL(enable, setSimplePwmDutyCycle(1));
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 1 EXPECT_CALL(dir1, setSimplePwmDutyCycle(0.5f));
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 1 EXPECT_CALL(dir2, setSimplePwmDutyCycle(0));
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 1 dut.configure(enable, dir1, dir2, false);
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 1 dut.set(0.5f);
108 2 }
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110 4 TEST(DcMotor, PwmDirectionPinsModeNegative) {
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 1 NiceMock<MockOutputPin> dpin;
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 1 TwoPinDcMotor dut(dpin);
113 1 dut.setType(TwoPinDcMotor::ControlType::PwmDirectionPins);
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 1 MockPwm enable;
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 1 MockPwm dir1;
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 1 MockPwm dir2;
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 1 EXPECT_CALL(enable, setSimplePwmDutyCycle(1));
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 1 EXPECT_CALL(dir1, setSimplePwmDutyCycle(0));
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 1 EXPECT_CALL(dir2, setSimplePwmDutyCycle(0.5f));
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 1 dut.configure(enable, dir1, dir2, false);
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 1 dut.set(-0.5f);
126 2 }
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