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_NAME DEVICE_DT_NAME(DT_NODELABEL(fake_stepper))
18
19 /* Global variables */
20 static const struct device *const fake_stepper_dev = DEVICE_DT_GET(DT_NODELABEL(fake_stepper));
21
22 DEFINE_FFF_GLOBALS;
23
24 #define ASSERT_STEPPER_FUNC_CALLED(stepper_fake_func, retval) \
25 zassert_ok(retval, "failed to execute shell command (err %d)", retval); \
26 zassert_equal(stepper_fake_func.call_count, 1, \
27 STRINGIFY(stepper_fake_func) " function not called"); \
28 zassert_equal(stepper_fake_func.arg0_val, fake_stepper_dev, "wrong device pointer")
29
stepper_shell_setup(void)30 static void *stepper_shell_setup(void)
31 {
32 const struct shell *sh = shell_backend_dummy_get_ptr();
33
34 /* Wait for the initialization of the shell dummy backend. */
35 WAIT_FOR(shell_ready(sh), 20000, k_msleep(1));
36 zassert_true(shell_ready(sh), "timed out waiting for dummy shell backend");
37
38 return NULL;
39 }
40
41 ZTEST_SUITE(stepper_shell, NULL, stepper_shell_setup, NULL, NULL, NULL);
42
ZTEST(stepper_shell,test_stepper_enable)43 ZTEST(stepper_shell, test_stepper_enable)
44 {
45 const struct shell *sh = shell_backend_dummy_get_ptr();
46 int err = shell_execute_cmd(sh, "stepper enable " FAKE_STEPPER_NAME " on");
47
48 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_enable_fake, err);
49 zassert_equal(fake_stepper_enable_fake.arg1_val, true, "wrong enable value");
50
51 RESET_FAKE(fake_stepper_enable);
52
53 err = shell_execute_cmd(sh, "stepper enable " FAKE_STEPPER_NAME " off");
54 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_enable_fake, err);
55 zassert_equal(fake_stepper_enable_fake.arg1_val, false, "wrong enable value");
56 }
57
ZTEST(stepper_shell,test_stepper_move_by)58 ZTEST(stepper_shell, test_stepper_move_by)
59 {
60 const struct shell *sh = shell_backend_dummy_get_ptr();
61 int err = shell_execute_cmd(sh, "stepper move_by " FAKE_STEPPER_NAME " 1000");
62
63 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_move_by_fake, err);
64 zassert_equal(fake_stepper_move_by_fake.arg1_val, 1000, "wrong microsteps value");
65 }
66
ZTEST(stepper_shell,test_stepper_set_max_velocity)67 ZTEST(stepper_shell, test_stepper_set_max_velocity)
68 {
69 const struct shell *sh = shell_backend_dummy_get_ptr();
70 int err = shell_execute_cmd(sh, "stepper set_max_velocity " FAKE_STEPPER_NAME " 200");
71
72 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_max_velocity_fake, err);
73 zassert_equal(fake_stepper_set_max_velocity_fake.arg1_val, 200, "wrong velocity value");
74 }
75
ZTEST(stepper_shell,test_stepper_set_micro_step_res)76 ZTEST(stepper_shell, test_stepper_set_micro_step_res)
77 {
78 const struct shell *sh = shell_backend_dummy_get_ptr();
79 int err = shell_execute_cmd(sh, "stepper set_micro_step_res " FAKE_STEPPER_NAME " 64");
80
81 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_micro_step_res_fake, err);
82 zassert_equal(fake_stepper_set_micro_step_res_fake.arg1_val, 64,
83 "wrong micro steps resolution value");
84 }
85
ZTEST(stepper_shell,test_stepper_set_micro_step_res_invalid_value)86 ZTEST(stepper_shell, test_stepper_set_micro_step_res_invalid_value)
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_NAME " 111");
90
91 zassert_not_equal(err, 0, " executed set_micro_step_res with invalid micro steps value");
92 }
93
ZTEST(stepper_shell,test_stepper_get_micro_step_res)94 ZTEST(stepper_shell, test_stepper_get_micro_step_res)
95 {
96 const struct shell *sh = shell_backend_dummy_get_ptr();
97 int err = shell_execute_cmd(sh, "stepper get_micro_step_res " FAKE_STEPPER_NAME);
98
99 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_get_micro_step_res_fake, err);
100 }
101
ZTEST(stepper_shell,test_stepper_set_reference_position)102 ZTEST(stepper_shell, test_stepper_set_reference_position)
103 {
104 const struct shell *sh = shell_backend_dummy_get_ptr();
105 int err = shell_execute_cmd(sh, "stepper set_reference_position " FAKE_STEPPER_NAME " 100");
106
107 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_reference_position_fake, err);
108 zassert_equal(fake_stepper_set_reference_position_fake.arg1_val, 100,
109 "wrong actual position value");
110 }
111
ZTEST(stepper_shell,test_stepper_get_actual_position)112 ZTEST(stepper_shell, test_stepper_get_actual_position)
113 {
114 const struct shell *sh = shell_backend_dummy_get_ptr();
115 int err = shell_execute_cmd(sh, "stepper get_actual_position " FAKE_STEPPER_NAME);
116
117 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_get_actual_position_fake, err);
118 }
119
ZTEST(stepper_shell,test_stepper_move_to)120 ZTEST(stepper_shell, test_stepper_move_to)
121 {
122 const struct shell *sh = shell_backend_dummy_get_ptr();
123 int err = shell_execute_cmd(sh, "stepper move_to " FAKE_STEPPER_NAME " 200");
124
125 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_move_to_fake, err);
126 zassert_equal(fake_stepper_move_to_fake.arg1_val, 200,
127 "wrong target position value");
128 }
129
ZTEST(stepper_shell,test_stepper_run)130 ZTEST(stepper_shell, test_stepper_run)
131 {
132 const struct shell *sh = shell_backend_dummy_get_ptr();
133 int err = shell_execute_cmd(sh, "stepper run " FAKE_STEPPER_NAME " positive 200");
134
135 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_run_fake, err);
136 zassert_equal(fake_stepper_run_fake.arg1_val, STEPPER_DIRECTION_POSITIVE,
137 "wrong direction value");
138 zassert_equal(fake_stepper_run_fake.arg2_val, 200, "wrong velocity value");
139 }
140
ZTEST(stepper_shell,test_stepper_run_invalid_direction)141 ZTEST(stepper_shell, test_stepper_run_invalid_direction)
142 {
143 const struct shell *sh = shell_backend_dummy_get_ptr();
144 int err = shell_execute_cmd(sh, "stepper run " FAKE_STEPPER_NAME " foo 200");
145
146 zassert_not_equal(err, 0, " executed run with invalid direction value");
147 }
148
ZTEST(stepper_shell,test_stepper_info)149 ZTEST(stepper_shell, test_stepper_info)
150 {
151 const struct shell *sh = shell_backend_dummy_get_ptr();
152 int err = shell_execute_cmd(sh, "stepper info " FAKE_STEPPER_NAME);
153
154 zassert_ok(err, "failed to execute shell command (err %d)", err);
155
156 zassert_equal(fake_stepper_is_moving_fake.call_count, 1, "is_moving function not called");
157 zassert_equal(fake_stepper_get_actual_position_fake.call_count, 1,
158 "get_actual_position function not called");
159 zassert_equal(fake_stepper_get_micro_step_res_fake.call_count, 1,
160 "get_micro_step_res function not called");
161 }
162
