1 /*
2 * Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #include <string.h>
8
9 #include <zephyr/drivers/stepper.h>
10 #include <zephyr/drivers/stepper/stepper_fake.h>
11 #include <zephyr/fff.h>
12 #include <zephyr/shell/shell.h>
13 #include <zephyr/shell/shell_dummy.h>
14 #include <zephyr/ztest.h>
15 #include <zephyr/sys/util.h>
16
17 #define FAKE_STEPPER_CONTROLLER DEVICE_DT_NAME(DT_NODELABEL(fake_stepper_controller))
18 #define FAKE_STEPPER_DRIVER DEVICE_DT_NAME(DT_NODELABEL(fake_stepper_driver))
19
20 /* Global variables */
21 static const struct device *const fake_stepper_driver_dev =
22 DEVICE_DT_GET(DT_NODELABEL(fake_stepper_driver));
23 static const struct device *const fake_stepper_controller_dev =
24 DEVICE_DT_GET(DT_NODELABEL(fake_stepper_controller));
25
26 DEFINE_FFF_GLOBALS;
27
28 #define ASSERT_STEPPER_FUNC_CALLED(stepper_fake_func, stepper_fake_dev, retval) \
29 zassert_ok(retval, "failed to execute shell command (err %d)", retval); \
30 zassert_equal(stepper_fake_func.call_count, 1, \
31 STRINGIFY(stepper_fake_func) " function not called"); \
32 zassert_equal(stepper_fake_func.arg0_val, stepper_fake_dev, "wrong device pointer")
33
stepper_shell_setup(void)34 static void *stepper_shell_setup(void)
35 {
36 const struct shell *sh = shell_backend_dummy_get_ptr();
37
38 /* Wait for the initialization of the shell dummy backend. */
39 WAIT_FOR(shell_ready(sh), 20000, k_msleep(1));
40 zassert_true(shell_ready(sh), "timed out waiting for dummy shell backend");
41
42 return NULL;
43 }
44
45 ZTEST_SUITE(stepper_shell, NULL, stepper_shell_setup, NULL, NULL, NULL);
46
ZTEST(stepper_shell,test_stepper_drv_enable)47 ZTEST(stepper_shell, test_stepper_drv_enable)
48 {
49 const struct shell *sh = shell_backend_dummy_get_ptr();
50 int err = shell_execute_cmd(sh, "stepper enable " FAKE_STEPPER_DRIVER);
51
52 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_drv_enable_fake, fake_stepper_driver_dev, err);
53 zassert_equal(err, 0, "stepper enable could not be executed");
54 }
55
ZTEST(stepper_shell,test_stepper_drv_disable)56 ZTEST(stepper_shell, test_stepper_drv_disable)
57 {
58 const struct shell *sh = shell_backend_dummy_get_ptr();
59 int err = shell_execute_cmd(sh, "stepper disable " FAKE_STEPPER_DRIVER);
60
61 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_drv_disable_fake, fake_stepper_driver_dev, err);
62 zassert_equal(err, 0, "stepper disable could not be executed");
63 }
64
ZTEST(stepper_shell,test_stepper_move_by)65 ZTEST(stepper_shell, test_stepper_move_by)
66 {
67 const struct shell *sh = shell_backend_dummy_get_ptr();
68 int err = shell_execute_cmd(sh, "stepper move_by " FAKE_STEPPER_CONTROLLER " 1000");
69
70 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_move_by_fake, fake_stepper_controller_dev, err);
71 zassert_equal(fake_stepper_move_by_fake.arg1_val, 1000, "wrong microsteps value");
72 }
73
ZTEST(stepper_shell,test_stepper_set_microstep_interval)74 ZTEST(stepper_shell, test_stepper_set_microstep_interval)
75 {
76 const struct shell *sh = shell_backend_dummy_get_ptr();
77 int err = shell_execute_cmd(sh, "stepper set_microstep_interval " FAKE_STEPPER_CONTROLLER
78 " 200");
79
80 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_microstep_interval_fake,
81 fake_stepper_controller_dev, err);
82 zassert_equal(fake_stepper_set_microstep_interval_fake.arg1_val, 200,
83 "wrong step_interval value");
84 }
85
ZTEST(stepper_shell,test_stepper_drv_set_micro_step_res)86 ZTEST(stepper_shell, test_stepper_drv_set_micro_step_res)
87 {
88 const struct shell *sh = shell_backend_dummy_get_ptr();
89 int err = shell_execute_cmd(sh, "stepper set_micro_step_res " FAKE_STEPPER_DRIVER " 64");
90
91 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_drv_set_micro_step_res_fake,
92 fake_stepper_driver_dev, err);
93 zassert_equal(fake_stepper_drv_set_micro_step_res_fake.arg1_val, 64,
94 "wrong micro steps resolution value");
95 }
96
ZTEST(stepper_shell,test_stepper_drv_set_micro_step_res_invalid_value)97 ZTEST(stepper_shell, test_stepper_drv_set_micro_step_res_invalid_value)
98 {
99 const struct shell *sh = shell_backend_dummy_get_ptr();
100 int err = shell_execute_cmd(sh, "stepper set_micro_step_res " FAKE_STEPPER_DRIVER " 111");
101
102 zassert_not_equal(err, 0, " executed set_micro_step_res with invalid micro steps value");
103 }
104
ZTEST(stepper_shell,test_stepper_drv_get_micro_step_res)105 ZTEST(stepper_shell, test_stepper_drv_get_micro_step_res)
106 {
107 const struct shell *sh = shell_backend_dummy_get_ptr();
108 int err = shell_execute_cmd(sh, "stepper get_micro_step_res " FAKE_STEPPER_DRIVER);
109
110 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_drv_get_micro_step_res_fake,
111 fake_stepper_driver_dev, err);
112 }
113
ZTEST(stepper_shell,test_stepper_set_reference_position)114 ZTEST(stepper_shell, test_stepper_set_reference_position)
115 {
116 const struct shell *sh = shell_backend_dummy_get_ptr();
117 int err = shell_execute_cmd(sh, "stepper set_reference_position " FAKE_STEPPER_CONTROLLER
118 " 100");
119
120 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_reference_position_fake,
121 fake_stepper_controller_dev, err);
122 zassert_equal(fake_stepper_set_reference_position_fake.arg1_val, 100,
123 "wrong actual position value");
124 }
125
ZTEST(stepper_shell,test_stepper_get_actual_position)126 ZTEST(stepper_shell, test_stepper_get_actual_position)
127 {
128 const struct shell *sh = shell_backend_dummy_get_ptr();
129 int err = shell_execute_cmd(sh, "stepper get_actual_position " FAKE_STEPPER_CONTROLLER);
130
131 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_get_actual_position_fake,
132 fake_stepper_controller_dev, err);
133 }
134
ZTEST(stepper_shell,test_stepper_move_to)135 ZTEST(stepper_shell, test_stepper_move_to)
136 {
137 const struct shell *sh = shell_backend_dummy_get_ptr();
138 int err = shell_execute_cmd(sh, "stepper move_to " FAKE_STEPPER_CONTROLLER " 200");
139
140 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_move_to_fake, fake_stepper_controller_dev, err);
141 zassert_equal(fake_stepper_move_to_fake.arg1_val, 200, "wrong target position value");
142 }
143
ZTEST(stepper_shell,test_stepper_run)144 ZTEST(stepper_shell, test_stepper_run)
145 {
146 const struct shell *sh = shell_backend_dummy_get_ptr();
147 int err = shell_execute_cmd(sh, "stepper run " FAKE_STEPPER_CONTROLLER " positive");
148
149 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_run_fake, fake_stepper_controller_dev, err);
150 zassert_equal(fake_stepper_run_fake.arg1_val, STEPPER_DIRECTION_POSITIVE,
151 "wrong direction value");
152 }
153
ZTEST(stepper_shell,test_stepper_run_invalid_direction)154 ZTEST(stepper_shell, test_stepper_run_invalid_direction)
155 {
156 const struct shell *sh = shell_backend_dummy_get_ptr();
157 int err = shell_execute_cmd(sh, "stepper run " FAKE_STEPPER_CONTROLLER " foo");
158
159 zassert_not_equal(err, 0, " executed run with invalid direction value");
160 }
161
ZTEST(stepper_shell,test_stepper_stop)162 ZTEST(stepper_shell, test_stepper_stop)
163 {
164 const struct shell *sh = shell_backend_dummy_get_ptr();
165 int err = shell_execute_cmd(sh, "stepper stop " FAKE_STEPPER_CONTROLLER);
166
167 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_stop_fake, fake_stepper_controller_dev, err);
168 zassert_equal(err, 0, "stepper stop could not be executed");
169 }
170
ZTEST(stepper_shell,test_stepper_controller_info)171 ZTEST(stepper_shell, test_stepper_controller_info)
172 {
173 const struct shell *sh = shell_backend_dummy_get_ptr();
174 int err = shell_execute_cmd(sh, "stepper control_info " FAKE_STEPPER_CONTROLLER);
175
176 zassert_ok(err, "failed to execute shell command (err %d)", err);
177
178 zassert_equal(fake_stepper_is_moving_fake.call_count, 1, "is_moving function not called");
179 zassert_equal(fake_stepper_get_actual_position_fake.call_count, 1,
180 "get_actual_position function not called");
181 }
182
ZTEST(stepper_shell,test_stepper_info)183 ZTEST(stepper_shell, test_stepper_info)
184 {
185 const struct shell *sh = shell_backend_dummy_get_ptr();
186 int err = shell_execute_cmd(sh, "stepper info " FAKE_STEPPER_DRIVER);
187
188 zassert_ok(err, "failed to execute shell command (err %d)", err);
189
190 zassert_equal(fake_stepper_drv_get_micro_step_res_fake.call_count, 1,
191 "get_micro_step_res function not called");
192 }
193
