Branching from Cathaswatch project

https://git.nerdyssey.de/exodus/1NiM-WatingRoom-WatchController
2024-11-16 11:53:28 +01:00
parent 1a13428c9d
commit 8c49e2f11c
116 changed files with 14510 additions and 590 deletions
@@ -0,0 +1,5 @@
+UnitTestsFrame()
+target_link_libraries(${moduleName} PUBLIC
+    devHal
+    bases
+)
@@ -0,0 +1,112 @@
+/**
+ * @file TestableUTest.cpp
+ * @author Gustice
+ * @brief
+ *
+ * @copyright Copyright (c) 2024
+ */
+
+#define DOCTEST_CONFIG_IMPLEMENT_WITH_MAIN
+#include "doctest/doctest.h"
+#include <iostream>
+#include <numbers>
+
+#include "watchFace.hpp"
+
+class StepperMotorMock : public IStepperMotor {
+  public:
+    void moveBy(float angle, uint8_t profile = 0) override {
+        lastAngle = angle;
+        lastProfile = profile;
+    }
+    void moveBy(float angle, uint8_t profile, float accel, float speed, std::function<void(int diff)> profileDone = nullptr) override {
+        lastAngle = angle;
+        lastProfile = profile;
+    }
+    float getScaledPos() const override {
+        return nextPos;
+    }
+    uint16_t getQuanted() const override {
+        return 0;
+    }
+
+    float lastAngle{};
+    uint8_t lastProfile{};
+    float lastAccel{};
+    float lastSpeed{};
+    float nextPos{};
+};
+
+class LoggerMock : public ILogging {
+    void output(Severity severity, std::string message) override {
+        // do nothing
+    }
+};
+
+void onFin(uint8_t idx) {
+}
+
+class WatchFaceFixture {
+    using PositionStore = StepperMotor::Position<50, 5>;
+
+  public:
+  protected:
+    static constexpr int MicroSteps = 32;
+    StepperMotorMock motor;
+    LoggerMock logger;
+    WatchMotor sut{motor, onFin, logger};
+
+  private:
+};
+
+TEST_CASE_FIXTURE(WatchFaceFixture, "Moving simple steps") {
+    auto next = 0*std::numbers::pi/3;
+    motor.nextPos = next;
+    sut.moveTo(1, 0, 0, 1, 1);
+    auto delta = 1*std::numbers::pi/3;
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+    
+    motor.nextPos = 1.0F/6;
+    sut.moveTo(2, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 2.0F/6;
+    sut.moveTo(3, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 3.0F/6;
+    sut.moveTo(4, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 4.0F/6;
+    sut.moveTo(5, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 5.0F/6;
+    sut.moveTo(6, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 6.0F/6;
+    sut.moveTo(1, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 1.0F/6;
+    sut.moveTo(2, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+}
+
+TEST_CASE_FIXTURE(WatchFaceFixture, "Moving multiple turns") {
+    auto next = 0*std::numbers::pi/3;
+    motor.nextPos = next;
+    sut.moveTo(1, 0, 0, 1, 1);
+    auto delta = 1*std::numbers::pi/3;
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+    
+    motor.nextPos = 1.0F/6;
+    sut.moveTo(1, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(6*delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 1.0F/6;
+    sut.moveTo(1, 0, 7, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(12*delta).epsilon(0.000625)); // MicroStep tolerance
+}