added tests for the encoder

Author: jorgesg82

Tests/CMakeLists.txt

@@ -19,6 +19,7 @@ message(STATUS "Generating test executable for ST-LIB")
 add_executable(${STLIB_TEST_EXECUTABLE}
     ${CMAKE_CURRENT_LIST_DIR}/../Src/HALAL/Models/SPI/SPI2.cpp
     ${CMAKE_CURRENT_LIST_DIR}/../Src/HALAL/Models/DMA/DMA2.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/Time/encoder_test.cpp
     ${CMAKE_CURRENT_LIST_DIR}/Time/scheduler_test.cpp
     ${CMAKE_CURRENT_LIST_DIR}/Time/timer_wrapper_test.cpp
     ${CMAKE_CURRENT_LIST_DIR}/adc_test.cpp

Tests/Time/encoder_test.cpp

@@ -0,0 +1,158 @@
+#include <gtest/gtest.h>
+
+#include "HALAL/Services/Time/TimerWrapper.hpp"
+#include "ST-LIB_LOW/Sensors/EncoderSensor/NewEncoderSensor.hpp"
+
+namespace ST_LIB::TestErrorHandler {
+void reset();
+void set_fail_on_error(bool enabled);
+extern int call_count;
+} // namespace ST_LIB::TestErrorHandler
+
+namespace {
+
+constexpr ST_LIB::TimerDomain::Timer encoder_timer_decl{
+    ST_LIB::TimerRequest::GeneralPurpose32bit_2,
+    ST_LIB::TimerDomain::EMPTY_TIMER_NAME,
+    ST_LIB::TimerPin{
+        .af = ST_LIB::TimerAF::Encoder,
+        .pin = ST_LIB::PA0,
+        .channel = ST_LIB::TimerChannel::CHANNEL_1,
+    },
+    ST_LIB::TimerPin{
+        .af = ST_LIB::TimerAF::Encoder,
+        .pin = ST_LIB::PA1,
+        .channel = ST_LIB::TimerChannel::CHANNEL_2,
+    },
+};
+
+struct MockEncoder {
+    uint32_t counter = 1234;
+    uint32_t initial_counter = 1234;
+    bool direction = true;
+    int turn_on_calls = 0;
+    int turn_off_calls = 0;
+    int reset_calls = 0;
+
+    void turn_on() { ++turn_on_calls; }
+    void turn_off() { ++turn_off_calls; }
+    void reset() {
+        ++reset_calls;
+        counter = initial_counter;
+    }
+    uint32_t get_counter() { return counter; }
+    bool get_direction() { return direction; }
+    uint32_t get_initial_counter_value() { return initial_counter; }
+};
+
+using MockSensor = ST_LIB::EncoderSensor<MockEncoder, 4>;
+
+} // namespace
+
+class EncoderTest : public ::testing::Test {
+protected:
+    TIM_HandleTypeDef hal_tim{};
+    ST_LIB::TimerDomain::Instance instance{};
+    ST_LIB::TimerWrapper<encoder_timer_decl> wrapper{};
+
+    void SetUp() override {
+        ST_LIB::TestErrorHandler::reset();
+
+        TIM2_BASE->CNT = 0U;
+        TIM2_BASE->ARR = 0U;
+        TIM2_BASE->PSC = 0U;
+        TIM2_BASE->CR1 = 0U;
+
+        hal_tim = {};
+        hal_tim.Instance = TIM2_BASE;
+        hal_tim.State = HAL_TIM_STATE_READY;
+
+        instance.tim = TIM2_BASE;
+        instance.hal_tim = &hal_tim;
+        instance.timer_idx = 0U;
+
+        wrapper = ST_LIB::TimerWrapper<encoder_timer_decl>(&instance);
+        ST_LIB::Encoder<encoder_timer_decl>::init(&wrapper);
+        ST_LIB::Encoder<encoder_timer_decl>::turn_off();
+    }
+};
+
+TEST_F(EncoderTest, ResetUsesConfiguredInitialCounterValue) {
+    TIM2_BASE->CNT = 17U;
+
+    ST_LIB::Encoder<encoder_timer_decl>::reset();
+
+    EXPECT_EQ(TIM2_BASE->ARR, 55000U);
+    EXPECT_EQ(
+        TIM2_BASE->CNT,
+        ST_LIB::Encoder<encoder_timer_decl>::get_initial_counter_value()
+    );
+}
+
+TEST_F(EncoderTest, TurnOffKeepsTryingIfHALStopFails) {
+    ST_LIB::TestErrorHandler::set_fail_on_error(false);
+    ST_LIB::Encoder<encoder_timer_decl>::turn_on();
+
+    instance.hal_tim = nullptr;
+
+    ST_LIB::Encoder<encoder_timer_decl>::turn_off();
+    ST_LIB::Encoder<encoder_timer_decl>::turn_off();
+
+    EXPECT_EQ(ST_LIB::TestErrorHandler::call_count, 2);
+}
+
+TEST(EncoderSensorTest, ReadTreatsEncoderInitialCounterAsZeroPosition) {
+    MockEncoder encoder{};
+    double position = -1.0;
+    double speed = -1.0;
+    double acceleration = -1.0;
+    MockSensor::Direction direction = MockSensor::BACKWARDS;
+
+    MockSensor sensor(
+        encoder,
+        0.5,
+        0.1,
+        &direction,
+        &position,
+        &speed,
+        &acceleration
+    );
+
+    sensor.read();
+
+    EXPECT_DOUBLE_EQ(position, 0.0);
+    EXPECT_DOUBLE_EQ(speed, 0.0);
+    EXPECT_DOUBLE_EQ(acceleration, 0.0);
+    EXPECT_EQ(direction, MockSensor::FORWARD);
+}
+
+TEST(EncoderSensorTest, ResetForwardsToEncoderAndClearsHistory) {
+    MockEncoder encoder{};
+    encoder.counter = 1240U;
+
+    double position = 0.0;
+    double speed = 0.0;
+    double acceleration = 0.0;
+    MockSensor::Direction direction = MockSensor::BACKWARDS;
+
+    MockSensor sensor(
+        encoder,
+        1.0,
+        1.0,
+        &direction,
+        &position,
+        &speed,
+        &acceleration
+    );
+
+    sensor.read();
+    ASSERT_NE(position, 0.0);
+
+    sensor.reset();
+    sensor.read();
+
+    EXPECT_EQ(encoder.reset_calls, 1);
+    EXPECT_DOUBLE_EQ(position, 0.0);
+    EXPECT_DOUBLE_EQ(speed, 0.0);
+    EXPECT_DOUBLE_EQ(acceleration, 0.0);
+}