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_microstep_interval)67 ZTEST(stepper_shell, test_stepper_set_microstep_interval)
68 {
69 const struct shell *sh = shell_backend_dummy_get_ptr();
70 int err = shell_execute_cmd(sh, "stepper set_microstep_interval " FAKE_STEPPER_NAME " 200");
71
72 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_microstep_interval_fake, err);
73 zassert_equal(fake_stepper_set_microstep_interval_fake.arg1_val, 200,
74 "wrong step_interval value");
75 }
76
ZTEST(stepper_shell,test_stepper_set_micro_step_res)77 ZTEST(stepper_shell, test_stepper_set_micro_step_res)
78 {
79 const struct shell *sh = shell_backend_dummy_get_ptr();
80 int err = shell_execute_cmd(sh, "stepper set_micro_step_res " FAKE_STEPPER_NAME " 64");
81
82 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_micro_step_res_fake, err);
83 zassert_equal(fake_stepper_set_micro_step_res_fake.arg1_val, 64,
84 "wrong micro steps resolution value");
85 }
86
ZTEST(stepper_shell,test_stepper_set_micro_step_res_invalid_value)87 ZTEST(stepper_shell, test_stepper_set_micro_step_res_invalid_value)
88 {
89 const struct shell *sh = shell_backend_dummy_get_ptr();
90 int err = shell_execute_cmd(sh, "stepper set_micro_step_res " FAKE_STEPPER_NAME " 111");
91
92 zassert_not_equal(err, 0, " executed set_micro_step_res with invalid micro steps value");
93 }
94
ZTEST(stepper_shell,test_stepper_get_micro_step_res)95 ZTEST(stepper_shell, test_stepper_get_micro_step_res)
96 {
97 const struct shell *sh = shell_backend_dummy_get_ptr();
98 int err = shell_execute_cmd(sh, "stepper get_micro_step_res " FAKE_STEPPER_NAME);
99
100 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_get_micro_step_res_fake, err);
101 }
102
ZTEST(stepper_shell,test_stepper_set_reference_position)103 ZTEST(stepper_shell, test_stepper_set_reference_position)
104 {
105 const struct shell *sh = shell_backend_dummy_get_ptr();
106 int err = shell_execute_cmd(sh, "stepper set_reference_position " FAKE_STEPPER_NAME " 100");
107
108 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_reference_position_fake, err);
109 zassert_equal(fake_stepper_set_reference_position_fake.arg1_val, 100,
110 "wrong actual position value");
111 }
112
ZTEST(stepper_shell,test_stepper_get_actual_position)113 ZTEST(stepper_shell, test_stepper_get_actual_position)
114 {
115 const struct shell *sh = shell_backend_dummy_get_ptr();
116 int err = shell_execute_cmd(sh, "stepper get_actual_position " FAKE_STEPPER_NAME);
117
118 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_get_actual_position_fake, err);
119 }
120
ZTEST(stepper_shell,test_stepper_move_to)121 ZTEST(stepper_shell, test_stepper_move_to)
122 {
123 const struct shell *sh = shell_backend_dummy_get_ptr();
124 int err = shell_execute_cmd(sh, "stepper move_to " FAKE_STEPPER_NAME " 200");
125
126 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_move_to_fake, err);
127 zassert_equal(fake_stepper_move_to_fake.arg1_val, 200, "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");
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 }
139
ZTEST(stepper_shell,test_stepper_run_invalid_direction)140 ZTEST(stepper_shell, test_stepper_run_invalid_direction)
141 {
142 const struct shell *sh = shell_backend_dummy_get_ptr();
143 int err = shell_execute_cmd(sh, "stepper run " FAKE_STEPPER_NAME " foo");
144
145 zassert_not_equal(err, 0, " executed run with invalid direction value");
146 }
147
ZTEST(stepper_shell,test_stepper_stop)148 ZTEST(stepper_shell, test_stepper_stop)
149 {
150 const struct shell *sh = shell_backend_dummy_get_ptr();
151 int err = shell_execute_cmd(sh, "stepper stop " FAKE_STEPPER_NAME);
152
153 ASSERT_STEPPER_FUNC_CALLED(fake_stepper_stop_fake, err);
154 zassert_equal(err, 0, "stepper stop could not be executed");
155 }
156
ZTEST(stepper_shell,test_stepper_info)157 ZTEST(stepper_shell, test_stepper_info)
158 {
159 const struct shell *sh = shell_backend_dummy_get_ptr();
160 int err = shell_execute_cmd(sh, "stepper info " FAKE_STEPPER_NAME);
161
162 zassert_ok(err, "failed to execute shell command (err %d)", err);
163
164 zassert_equal(fake_stepper_is_moving_fake.call_count, 1, "is_moving function not called");
165 zassert_equal(fake_stepper_get_actual_position_fake.call_count, 1,
166 "get_actual_position function not called");
167 zassert_equal(fake_stepper_get_micro_step_res_fake.call_count, 1,
168 "get_micro_step_res function not called");
169 }
170
