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| 1 | #include "pch.h" | |||
| 2 | ||||
| 3 | #include "dc_motor.h" | |||
| 4 | ||||
| 5 | using ::testing::InSequence; | |||
| 6 | using ::testing::NiceMock; | |||
| 7 | using ::testing::StrictMock; | |||
| 8 | ||||
| 9 | 4 | TEST(DcMotor, Disable) { | ||
| 10 |
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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) | |
| 14 | ||||
| 15 |
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1 | TwoPinDcMotor dut(dpin); | |
| 16 | 2 | } | ||
| 17 | ||||
| 18 | 4 | TEST(DcMotor, Disable2) { | ||
| 19 |
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1 | StrictMock<MockOutputPin> dpin; | |
| 20 | ||||
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1 | EXPECT_CALL(dpin, setValue(1, testing::_)).Times(4); | |
| 22 | ||||
| 23 |
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1 | TwoPinDcMotor dut(dpin); | |
| 24 | ||||
| 25 |
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1 | dut.disable(nullptr); | |
| 26 | 2 | } | ||
| 27 | ||||
| 28 | 4 | TEST(DcMotor, Enable) { | ||
| 29 |
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1 | StrictMock<MockOutputPin> dpin; | |
| 30 | ||||
| 31 | { | |||
| 32 |
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1 | InSequence is; | |
| 33 | ||||
| 34 | // Construction disables | |||
| 35 |
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1 | EXPECT_CALL(dpin, setValue(1, testing::_)).Times(2); | |
| 36 | ||||
| 37 | // Then enable | |||
| 38 |
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1 | EXPECT_CALL(dpin, setValue(0, testing::_)); | |
| 39 | 1 | } | ||
| 40 | ||||
| 41 |
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1 | TwoPinDcMotor dut(dpin); | |
| 42 |
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1 | dut.enable(); | |
| 43 | 2 | } | ||
| 44 | ||||
| 45 | 4 | TEST(DcMotor, SetUnconfigured) { | ||
| 46 |
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1 | StrictMock<MockOutputPin> dpin; | |
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1 | EXPECT_CALL(dpin, setValue(1, testing::_)).Times(3); | |
| 48 | ||||
| 49 |
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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)); | |
| 52 | ||||
| 53 | // Readback should work even without configuration | |||
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1 | EXPECT_FLOAT_EQ(dut.get(), 0.5f); | |
| 55 | 2 | } | ||
| 56 | ||||
| 57 | 4 | TEST(DcMotor, PwmEnablePinModePositive) { | ||
| 58 |
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1 | NiceMock<MockOutputPin> dpin; | |
| 59 |
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1 | TwoPinDcMotor dut(dpin); | |
| 60 | 1 | dut.setType(TwoPinDcMotor::ControlType::PwmEnablePin); | ||
| 61 | ||||
| 62 |
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1 | MockPwm enable; | |
| 63 |
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1 | MockPwm dir1; | |
| 64 |
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1 | MockPwm dir2; | |
| 65 | ||||
| 66 |
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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)); | |
| 69 | ||||
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1 | dut.configure(enable, dir1, dir2, false); | |
| 71 |
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1 | dut.set(0.5f); | |
| 72 | 2 | } | ||
| 73 | ||||
| 74 | 4 | TEST(DcMotor, PwmEnablePinModeNegative) { | ||
| 75 |
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1 | NiceMock<MockOutputPin> dpin; | |
| 76 |
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1 | TwoPinDcMotor dut(dpin); | |
| 77 | 1 | dut.setType(TwoPinDcMotor::ControlType::PwmEnablePin); | ||
| 78 | ||||
| 79 |
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1 | MockPwm enable; | |
| 80 |
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1 | MockPwm dir1; | |
| 81 |
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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)); | |
| 87 | ||||
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1 | dut.configure(enable, dir1, dir2, false); | |
| 89 |
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1 | dut.set(-0.5f); | |
| 90 | 2 | } | ||
| 91 | ||||
| 92 | 4 | TEST(DcMotor, PwmDirectionPinsModePositive) { | ||
| 93 |
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1 | NiceMock<MockOutputPin> dpin; | |
| 94 |
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1 | TwoPinDcMotor dut(dpin); | |
| 95 | 1 | dut.setType(TwoPinDcMotor::ControlType::PwmDirectionPins); | ||
| 96 | ||||
| 97 |
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1 | MockPwm enable; | |
| 98 |
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1 | MockPwm dir1; | |
| 99 |
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1 | MockPwm dir2; | |
| 100 | ||||
| 101 | ||||
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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)); | |
| 105 | ||||
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1 | dut.configure(enable, dir1, dir2, false); | |
| 107 |
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1 | dut.set(0.5f); | |
| 108 | 2 | } | ||
| 109 | ||||
| 110 | 4 | TEST(DcMotor, PwmDirectionPinsModeNegative) { | ||
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1 | NiceMock<MockOutputPin> dpin; | |
| 112 |
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1 | TwoPinDcMotor dut(dpin); | |
| 113 | 1 | dut.setType(TwoPinDcMotor::ControlType::PwmDirectionPins); | ||
| 114 | ||||
| 115 |
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1 | MockPwm enable; | |
| 116 |
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1 | MockPwm dir1; | |
| 117 |
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1 | MockPwm dir2; | |
| 118 | ||||
| 119 | ||||
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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)); | |
| 123 | ||||
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1 | dut.configure(enable, dir1, dir2, false); | |
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1 | dut.set(-0.5f); | |
| 126 | 2 | } | ||
| 127 |