Asymmetric encoders, encoder tests. (#16068)

quantum/encoder/tests/encoder_tests_split_left_lt_right.cpp

@@ -0,0 +1,139 @@
+/* Copyright 2021 Balz Guenat
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "gtest/gtest.h"
+#include "gmock/gmock.h"
+#include <vector>
+#include <algorithm>
+#include <stdio.h>
+
+extern "C" {
+#include "encoder.h"
+#include "encoder/tests/mock_split.h"
+}
+
+struct update {
+    int8_t index;
+    bool   clockwise;
+};
+
+uint8_t updates_array_idx = 0;
+update  updates[32];
+
+bool isLeftHand;
+
+bool encoder_update_kb(uint8_t index, bool clockwise) {
+    if (!isLeftHand) {
+        // this method has no effect on slave half
+        printf("ignoring update on right hand (%d,%s)\n", index, clockwise ? "CW" : "CC");
+        return true;
+    }
+    updates[updates_array_idx % 32] = {index, clockwise};
+    updates_array_idx++;
+    return true;
+}
+
+bool setAndRead(pin_t pin, bool val) {
+    setPin(pin, val);
+    return encoder_read();
+}
+
+class EncoderSplitTestLeftLessThanRight : public ::testing::Test {
+   protected:
+    void SetUp() override {
+        updates_array_idx = 0;
+        for (int i = 0; i < 32; i++) {
+            pinIsInputHigh[i] = 0;
+            pins[i]           = 0;
+        }
+    }
+};
+
+TEST_F(EncoderSplitTestLeftLessThanRight, TestInitLeft) {
+    isLeftHand = true;
+    encoder_init();
+    EXPECT_EQ(pinIsInputHigh[0], true);
+    EXPECT_EQ(pinIsInputHigh[1], true);
+    EXPECT_EQ(pinIsInputHigh[2], true);
+    EXPECT_EQ(pinIsInputHigh[3], true);
+    EXPECT_EQ(pinIsInputHigh[4], false);
+    EXPECT_EQ(pinIsInputHigh[5], false);
+    EXPECT_EQ(pinIsInputHigh[6], false);
+    EXPECT_EQ(pinIsInputHigh[7], false);
+    EXPECT_EQ(pinIsInputHigh[8], false);
+    EXPECT_EQ(pinIsInputHigh[9], false);
+    EXPECT_EQ(updates_array_idx, 0); // no updates received
+}
+
+TEST_F(EncoderSplitTestLeftLessThanRight, TestInitRight) {
+    isLeftHand = false;
+    encoder_init();
+    EXPECT_EQ(pinIsInputHigh[0], false);
+    EXPECT_EQ(pinIsInputHigh[1], false);
+    EXPECT_EQ(pinIsInputHigh[2], false);
+    EXPECT_EQ(pinIsInputHigh[3], false);
+    EXPECT_EQ(pinIsInputHigh[4], true);
+    EXPECT_EQ(pinIsInputHigh[5], true);
+    EXPECT_EQ(pinIsInputHigh[6], true);
+    EXPECT_EQ(pinIsInputHigh[7], true);
+    EXPECT_EQ(pinIsInputHigh[8], true);
+    EXPECT_EQ(pinIsInputHigh[9], true);
+    EXPECT_EQ(updates_array_idx, 0); // no updates received
+}
+
+TEST_F(EncoderSplitTestLeftLessThanRight, TestOneClockwiseLeft) {
+    isLeftHand = true;
+    encoder_init();
+    // send 4 pulses. with resolution 4, that's one step and we should get 1 update.
+    setAndRead(0, false);
+    setAndRead(1, false);
+    setAndRead(0, true);
+    setAndRead(1, true);
+
+    EXPECT_EQ(updates_array_idx, 1); // one update received
+    EXPECT_EQ(updates[0].index, 0);
+    EXPECT_EQ(updates[0].clockwise, true);
+}
+
+TEST_F(EncoderSplitTestLeftLessThanRight, TestOneClockwiseRightSent) {
+    isLeftHand = false;
+    encoder_init();
+    // send 4 pulses. with resolution 4, that's one step and we should get 1 update.
+    setAndRead(6, false);
+    setAndRead(7, false);
+    setAndRead(6, true);
+    setAndRead(7, true);
+
+    uint8_t slave_state[32] = {0};
+    encoder_state_raw(slave_state);
+
+    EXPECT_EQ(slave_state[0], 0);
+    EXPECT_EQ(slave_state[1], 0xFF);
+}
+
+TEST_F(EncoderSplitTestLeftLessThanRight, TestMultipleEncodersRightReceived) {
+    isLeftHand = true;
+    encoder_init();
+
+    uint8_t slave_state[32] = {1, 0, 0xFF}; // First right encoder is CCW, Second right encoder no change, third right encoder CW
+    encoder_update_raw(slave_state);
+
+    EXPECT_EQ(updates_array_idx, 2); // two updates received, one for each changed item on the right side
+    EXPECT_EQ(updates[0].index, 2);
+    EXPECT_EQ(updates[0].clockwise, false);
+    EXPECT_EQ(updates[1].index, 4);
+    EXPECT_EQ(updates[1].clockwise, true);
+}