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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 uidx = 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[uidx % 32] = {index, clockwise};
uidx++;
return true;
}
bool setAndRead(pin_t pin, bool val) {
setPin(pin, val);
return encoder_read();
}
class EncoderTest : public ::testing::Test {
protected:
void SetUp() override {
uidx = 0;
for (int i = 0; i < 32; i++) {
pinIsInputHigh[i] = 0;
pins[i] = 0;
}
}
};
TEST_F(EncoderTest, TestInitLeft) {
isLeftHand = true;
encoder_init();
EXPECT_EQ(pinIsInputHigh[0], true);
EXPECT_EQ(pinIsInputHigh[1], true);
EXPECT_EQ(pinIsInputHigh[2], false);
EXPECT_EQ(pinIsInputHigh[3], false);
EXPECT_EQ(uidx, 0);
}
TEST_F(EncoderTest, TestInitRight) {
isLeftHand = false;
encoder_init();
EXPECT_EQ(pinIsInputHigh[0], false);
EXPECT_EQ(pinIsInputHigh[1], false);
EXPECT_EQ(pinIsInputHigh[2], true);
EXPECT_EQ(pinIsInputHigh[3], true);
EXPECT_EQ(uidx, 0);
}
TEST_F(EncoderTest, 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(uidx, 1);
EXPECT_EQ(updates[0].index, 0);
EXPECT_EQ(updates[0].clockwise, true);
}
TEST_F(EncoderTest, TestOneClockwiseRightSent) {
isLeftHand = false;
encoder_init();
// send 4 pulses. with resolution 4, that's one step and we should get 1 update.
setAndRead(2, false);
setAndRead(3, false);
setAndRead(2, true);
setAndRead(3, true);
uint8_t slave_state[2] = {0};
encoder_state_raw(slave_state);
EXPECT_EQ((int8_t)slave_state[0], -1);
}
/* this test will not work after the previous test.
* this is due to encoder_value[1] already being set to -1 when simulating the right half.
* When we now receive this update acting as the left half, there is no change.
* This is hard to mock, as the static values inside encoder.c normally exist twice, once on each half,
* but here, they only exist once.
*/
// TEST_F(EncoderTest, TestOneClockwiseRightReceived) {
// isLeftHand = true;
// encoder_init();
// uint8_t slave_state[2] = {255, 0};
// encoder_update_raw(slave_state);
// EXPECT_EQ(uidx, 1);
// EXPECT_EQ(updates[0].index, 1);
// EXPECT_EQ(updates[0].clockwise, true);
// }
TEST_F(EncoderTest, TestOneCounterClockwiseRightReceived) {
isLeftHand = true;
encoder_init();
uint8_t slave_state[2] = {0, 0};
encoder_update_raw(slave_state);
EXPECT_EQ(uidx, 1);
EXPECT_EQ(updates[0].index, 1);
EXPECT_EQ(updates[0].clockwise, false);
}
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