From 2f6751e48a37699cfd999e0afd8731ca3962611c Mon Sep 17 00:00:00 2001 From: Nick Brassel Date: Tue, 8 Mar 2022 16:58:05 +1100 Subject: Asymmetric encoders, encoder tests. (#16068) --- .../tests/encoder_tests_split_left_lt_right.cpp | 139 +++++++++++++++++++++ 1 file changed, 139 insertions(+) create mode 100644 quantum/encoder/tests/encoder_tests_split_left_lt_right.cpp (limited to 'quantum/encoder/tests/encoder_tests_split_left_lt_right.cpp') diff --git a/quantum/encoder/tests/encoder_tests_split_left_lt_right.cpp b/quantum/encoder/tests/encoder_tests_split_left_lt_right.cpp new file mode 100644 index 0000000000..a6519c5762 --- /dev/null +++ b/quantum/encoder/tests/encoder_tests_split_left_lt_right.cpp @@ -0,0 +1,139 @@ +/* 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 . + */ + +#include "gtest/gtest.h" +#include "gmock/gmock.h" +#include +#include +#include + +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 EncoderSplitTestLeftLessThanRight : 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(EncoderSplitTestLeftLessThanRight, 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(pinIsInputHigh[8], false); + EXPECT_EQ(pinIsInputHigh[9], false); + EXPECT_EQ(updates_array_idx, 0); // no updates received +} + +TEST_F(EncoderSplitTestLeftLessThanRight, 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(pinIsInputHigh[8], true); + EXPECT_EQ(pinIsInputHigh[9], true); + EXPECT_EQ(updates_array_idx, 0); // no updates received +} + +TEST_F(EncoderSplitTestLeftLessThanRight, 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(EncoderSplitTestLeftLessThanRight, 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(EncoderSplitTestLeftLessThanRight, TestMultipleEncodersRightReceived) { + isLeftHand = true; + encoder_init(); + + uint8_t slave_state[32] = {1, 0, 0xFF}; // First right encoder is CCW, Second right encoder no change, third 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, 4); + EXPECT_EQ(updates[1].clockwise, true); +} -- cgit v1.2.3