Add Motor unit tests

Signed-off-by: Javier Balloffet <[email protected]>

andino_firmware/platformio.ini

@@ -21,12 +21,14 @@ build_flags =
 platform = atmelavr
 framework = arduino
 monitor_speed = 57600
-test_ignore = test_desktop
+test_ignore = desktop/*
 
 ; Base configuration for desktop platforms (for unit testing).
 [base_desktop]
 platform = native
 test_framework = googletest
+test_build_src = true
+build_src_filter = +<motor.cpp>
 
 ; Environment for Arduino Uno.
 [env:uno]

andino_firmware/test/desktop/test_motor/motor_test.cpp

@@ -0,0 +1,137 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2024, Ekumen Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// 1. Redistributions of source code must retain the above copyright notice, this
+//    list of conditions and the following disclaimer.
+//
+// 2. Redistributions in binary form must reproduce the above copyright notice,
+//    this list of conditions and the following disclaimer in the documentation
+//    and/or other materials provided with the distribution.
+//
+// 3. Neither the name of the copyright holder nor the names of its
+//    contributors may be used to endorse or promote products derived from
+//    this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#include "motor.h"
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+
+#include "digital_out.h"
+#include "pwm_out.h"
+
+namespace andino {
+namespace test {
+namespace {
+
+class MockDigitalOut : public andino::DigitalOut {
+ public:
+  MockDigitalOut(const int gpio_pin) : andino::DigitalOut(gpio_pin) {}
+  MOCK_METHOD(void, begin, (), (const, override));
+  MOCK_METHOD(void, write, (int value), (const, override));
+};
+
+class MockPwmOut : public andino::PwmOut {
+ public:
+  MockPwmOut(const int gpio_pin) : andino::PwmOut(gpio_pin) {}
+  MOCK_METHOD(void, begin, (), (const, override));
+  MOCK_METHOD(void, write, (int value), (const, override));
+};
+
+class MotorTest : public testing::Test {
+ protected:
+  MockDigitalOut enable_digital_out_{0};
+  MockPwmOut forward_pwm_out_{0};
+  MockPwmOut backward_pwm_out_{0};
+};
+
+TEST_F(MotorTest, Initialize) {
+  EXPECT_CALL(enable_digital_out_, begin()).Times(1);
+  EXPECT_CALL(forward_pwm_out_, begin()).Times(1);
+  EXPECT_CALL(backward_pwm_out_, begin()).Times(1);
+
+  andino::Motor motor(&enable_digital_out_, &forward_pwm_out_, &backward_pwm_out_);
+  motor.begin();
+}
+
+TEST_F(MotorTest, Enable) {
+  EXPECT_CALL(enable_digital_out_, write(1)).Times(1);
+
+  andino::Motor motor(&enable_digital_out_, &forward_pwm_out_, &backward_pwm_out_);
+  motor.enable(true);
+}
+
+TEST_F(MotorTest, Disable) {
+  EXPECT_CALL(enable_digital_out_, write(0)).Times(1);
+
+  andino::Motor motor(&enable_digital_out_, &forward_pwm_out_, &backward_pwm_out_);
+  motor.enable(false);
+}
+
+TEST_F(MotorTest, SetPositiveSpeed) {
+  EXPECT_CALL(forward_pwm_out_, write(100)).Times(1);
+  EXPECT_CALL(backward_pwm_out_, write(0)).Times(1);
+
+  andino::Motor motor(&enable_digital_out_, &forward_pwm_out_, &backward_pwm_out_);
+  motor.set_speed(100);
+}
+
+TEST_F(MotorTest, SetNegativeSpeed) {
+  EXPECT_CALL(forward_pwm_out_, write(0)).Times(1);
+  EXPECT_CALL(backward_pwm_out_, write(100)).Times(1);
+
+  andino::Motor motor(&enable_digital_out_, &forward_pwm_out_, &backward_pwm_out_);
+  motor.set_speed(-100);
+}
+
+TEST_F(MotorTest, SetZeroSpeed) {
+  EXPECT_CALL(forward_pwm_out_, write(0)).Times(1);
+  EXPECT_CALL(backward_pwm_out_, write(0)).Times(1);
+
+  andino::Motor motor(&enable_digital_out_, &forward_pwm_out_, &backward_pwm_out_);
+  motor.set_speed(0);
+}
+
+TEST_F(MotorTest, SetHigherThanMaximumPositiveSpeed) {
+  EXPECT_CALL(forward_pwm_out_, write(255)).Times(1);
+  EXPECT_CALL(backward_pwm_out_, write(0)).Times(1);
+
+  andino::Motor motor(&enable_digital_out_, &forward_pwm_out_, &backward_pwm_out_);
+  motor.set_speed(500);
+}
+
+TEST_F(MotorTest, SetLowerThanMinimumNegativeSpeed) {
+  EXPECT_CALL(forward_pwm_out_, write(0)).Times(1);
+  EXPECT_CALL(backward_pwm_out_, write(255)).Times(1);
+
+  andino::Motor motor(&enable_digital_out_, &forward_pwm_out_, &backward_pwm_out_);
+  motor.set_speed(-500);
+}
+
+}  // namespace
+}  // namespace test
+}  // namespace andino
+
+int main(int argc, char** argv) {
+  ::testing::InitGoogleTest(&argc, argv);
+  if (RUN_ALL_TESTS()) {
+  }
+
+  // Always return zero-code and allow PlatformIO to parse results.
+  return 0;
+}