test dc_motor.cpp (#2890)

* use ipwm where possible

* mock ipwm

* initialize

* test

firmware/controllers/actuators/boost_control.cpp

@@ -31,7 +31,7 @@ static boostOpenLoop_Map3D_t boostMapOpen;
 static boostOpenLoop_Map3D_t boostMapClosed;
 static SimplePwm boostPwmControl("boost");
 
-void BoostController::init(SimplePwm* pwm, const ValueProvider3D* openLoopMap, const ValueProvider3D* closedLoopTargetMap, pid_s* pidParams) {
+void BoostController::init(IPwm* pwm, const ValueProvider3D* openLoopMap, const ValueProvider3D* closedLoopTargetMap, pid_s* pidParams) {
 	m_pwm = pwm;
 	m_openLoopMap = openLoopMap;
 	m_closedLoopTargetMap = closedLoopTargetMap;

firmware/controllers/actuators/boost_control.h

@@ -11,13 +11,13 @@
 #include "closed_loop_controller.h"
 #include "pid.h"
 
-class SimplePwm;
+class IPwm;
 
 class BoostController : public ClosedLoopController<float, percent_t> {
 public:
 	DECLARE_ENGINE_PTR;
 
-	void init(SimplePwm* pmw, const ValueProvider3D* openLoopMap, const ValueProvider3D* closedLoopTargetMap, pid_s* pidParams);
+	void init(IPwm* pmw, const ValueProvider3D* openLoopMap, const ValueProvider3D* closedLoopTargetMap, pid_s* pidParams);
 	void update();
 
 	// Called when the configuration may have changed.  Controller will
@@ -39,7 +39,7 @@ private:
 
 	const ValueProvider3D* m_openLoopMap = nullptr;
 	const ValueProvider3D* m_closedLoopTargetMap = nullptr;
-	SimplePwm* m_pwm = nullptr;
+	IPwm* m_pwm = nullptr;
 };
 
 void startBoostPin();

firmware/controllers/actuators/gppwm/gppwm_channel.cpp

@@ -59,7 +59,7 @@ void GppwmChannel::setOutput(float result) {
 	}
 }
 
-void GppwmChannel::init(bool usePwm, SimplePwm* pwm, OutputPin* outputPin, const ValueProvider3D* table, const gppwm_channel* config) {
+void GppwmChannel::init(bool usePwm, IPwm* pwm, OutputPin* outputPin, const ValueProvider3D* table, const gppwm_channel* config) {
 	m_usePwm = usePwm;
 	m_pwm = pwm;
 	m_output = outputPin;

firmware/controllers/actuators/gppwm/gppwm_channel.h

@@ -6,14 +6,14 @@
 
 struct gppwm_channel;
 class OutputPin;
-class SimplePwm;
+class IPwm;
 class ValueProvider3D;
 
 class GppwmChannel {
 public:
 	DECLARE_ENGINE_PTR;
 
-	void init(bool usePwm, SimplePwm* pwm, OutputPin* outputPin, const ValueProvider3D* table, const gppwm_channel* config);
+	void init(bool usePwm, IPwm* pwm, OutputPin* outputPin, const ValueProvider3D* table, const gppwm_channel* config);
 	float update();
 	percent_t getOutput() const;
 	void setOutput(float result);
@@ -25,7 +25,7 @@ private:
 	// Configuration fields
 	const gppwm_channel* m_config = nullptr;
 	bool m_usePwm = false;
-	SimplePwm* m_pwm = nullptr;
+	IPwm* m_pwm = nullptr;
 	OutputPin* m_output = nullptr;
 	const ValueProvider3D* m_table = nullptr;
 };

firmware/controllers/system/dc_motor.h

@@ -71,9 +71,9 @@ public:
 	};
 
 private:
-	IPwm* m_enable;
-	IPwm* m_dir1;
-	IPwm* m_dir2;
+	IPwm* m_enable = nullptr;
+	IPwm* m_dir1 = nullptr;
+	IPwm* m_dir2 = nullptr;
 	OutputPin* const m_disable;
 	float m_value = 0;
 

unit_tests/mocks.h

@@ -42,7 +42,7 @@ public:
 	MOCK_METHOD(float, getValue, (float xColumn, float yRow), (const, override));
 };
 
-class MockPwm : public SimplePwm {
+class MockPwm : public IPwm {
 public:
 	MOCK_METHOD(void, setSimplePwmDutyCycle, (float dutyCycle), (override));
 };

unit_tests/tests/test_dc_motor.cpp

@@ -0,0 +1,126 @@
+#include "dc_motor.h"
+
+#include "mocks.h"
+
+using ::testing::InSequence;
+using ::testing::NiceMock;
+using ::testing::StrictMock;
+
+TEST(DcMotor, Disable) {
+	StrictMock<MockOutputPin> dpin;
+
+	EXPECT_CALL(dpin, setValue(1))
+		.Times(2);	// happens twice - once for initial disable, once for set(0)
+
+	TwoPinDcMotor dut(dpin);
+}
+
+TEST(DcMotor, Disable2) {
+	StrictMock<MockOutputPin> dpin;
+
+	EXPECT_CALL(dpin, setValue(1)).Times(4);
+
+	TwoPinDcMotor dut(dpin);
+
+	dut.disable();
+}
+
+TEST(DcMotor, Enable) {
+	StrictMock<MockOutputPin> dpin;
+
+	{
+		InSequence is;
+
+		// Construction disables
+		EXPECT_CALL(dpin, setValue(1)).Times(2);
+
+		// Then enable
+		EXPECT_CALL(dpin, setValue(0));
+	}
+
+	TwoPinDcMotor dut(dpin);
+	dut.enable();
+}
+
+TEST(DcMotor, SetUnconfigured) {
+	StrictMock<MockOutputPin> dpin;
+	EXPECT_CALL(dpin, setValue(1)).Times(3);
+
+	TwoPinDcMotor dut(dpin);
+	EXPECT_FLOAT_EQ(dut.get(), 0);
+	EXPECT_NO_THROW(dut.set(0.5f));
+
+	// Readback should work even without configuration
+	EXPECT_FLOAT_EQ(dut.get(), 0.5f);
+}
+
+TEST(DcMotor, PwmEnablePinModePositive) {
+	NiceMock<MockOutputPin> dpin;
+	TwoPinDcMotor dut(dpin);
+	dut.setType(TwoPinDcMotor::ControlType::PwmEnablePin);
+
+	MockPwm enable;
+	MockPwm dir1;
+	MockPwm dir2;
+
+	EXPECT_CALL(enable, setSimplePwmDutyCycle(0.5f));
+	EXPECT_CALL(dir1, setSimplePwmDutyCycle(1));
+	EXPECT_CALL(dir2, setSimplePwmDutyCycle(0));
+
+	dut.configure(enable, dir1, dir2);
+	dut.set(0.5f);
+}
+
+TEST(DcMotor, PwmEnablePinModeNegative) {
+	NiceMock<MockOutputPin> dpin;
+	TwoPinDcMotor dut(dpin);
+	dut.setType(TwoPinDcMotor::ControlType::PwmEnablePin);
+
+	MockPwm enable;
+	MockPwm dir1;
+	MockPwm dir2;
+	
+
+	EXPECT_CALL(enable, setSimplePwmDutyCycle(0.5f));
+	EXPECT_CALL(dir1, setSimplePwmDutyCycle(0));
+	EXPECT_CALL(dir2, setSimplePwmDutyCycle(1));
+
+	dut.configure(enable, dir1, dir2);
+	dut.set(-0.5f);
+}
+
+TEST(DcMotor, PwmDirectionPinsModePositive) {
+	NiceMock<MockOutputPin> dpin;
+	TwoPinDcMotor dut(dpin);
+	dut.setType(TwoPinDcMotor::ControlType::PwmDirectionPins);
+
+	MockPwm enable;
+	MockPwm dir1;
+	MockPwm dir2;
+	
+
+	EXPECT_CALL(enable, setSimplePwmDutyCycle(1));
+	EXPECT_CALL(dir1, setSimplePwmDutyCycle(0.5f));
+	EXPECT_CALL(dir2, setSimplePwmDutyCycle(0));
+
+	dut.configure(enable, dir1, dir2);
+	dut.set(0.5f);
+}
+
+TEST(DcMotor, PwmDirectionPinsModeNegative) {
+	NiceMock<MockOutputPin> dpin;
+	TwoPinDcMotor dut(dpin);
+	dut.setType(TwoPinDcMotor::ControlType::PwmDirectionPins);
+
+	MockPwm enable;
+	MockPwm dir1;
+	MockPwm dir2;
+	
+
+	EXPECT_CALL(enable, setSimplePwmDutyCycle(1));
+	EXPECT_CALL(dir1, setSimplePwmDutyCycle(0));
+	EXPECT_CALL(dir2, setSimplePwmDutyCycle(0.5f));
+
+	dut.configure(enable, dir1, dir2);
+	dut.set(-0.5f);
+}

unit_tests/tests/test_gppwm.cpp

@@ -7,13 +7,14 @@
 #include "mocks.h"
 
 using ::testing::InSequence;
+using ::testing::StrictMock;
 
 TEST(GpPwm, OutputWithPwm) {
 	GppwmChannel ch;
 
 	gppwm_channel cfg;
 
-	MockPwm pwm;
+	StrictMock<MockPwm> pwm;
 
 	// Shouldn't throw with no config
 	EXPECT_NO_THROW(ch.setOutput(10));

unit_tests/tests/tests.mk

@@ -38,6 +38,7 @@ TESTS_SRC_CPP = \
 	tests/test_idle_controller.cpp \
 	tests/test_issue_898.cpp \
 	tests/test_etb.cpp \
+	tests/test_dc_motor.cpp \
 	tests/test_fan_control.cpp \
 	tests/test_vvt.cpp \
 	tests/test_launch.cpp \