drivers: stepper: shell: Add test for stepper shell
Adds a basic test suite for the stepper shell commands. Signed-off-by: Fabian Blatz <fabianblatz@gmail.com>
This commit is contained in:
Fabian Blatz
Fabio Baltieri
parent
c525dc0813
commit
7e2337a1b7
5 changed files with 221 additions and 0 deletions
8
tests/drivers/stepper/shell/CMakeLists.txt
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8
tests/drivers/stepper/shell/CMakeLists.txt
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(can_shell)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})
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12
tests/drivers/stepper/shell/app.overlay
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tests/drivers/stepper/shell/app.overlay
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/*
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* Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/{
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fake_stepper: fake_stepper {
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compatible = "zephyr,fake-stepper";
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status = "okay";
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};
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};
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7
tests/drivers/stepper/shell/prj.conf
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tests/drivers/stepper/shell/prj.conf
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CONFIG_SHELL=y
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CONFIG_SHELL_BACKEND_SERIAL=n
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CONFIG_SHELL_BACKEND_DUMMY=y
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CONFIG_STEPPER=y
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CONFIG_STEPPER_SHELL=y
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CONFIG_ZTEST=y
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CONFIG_ZTEST_STACK_SIZE=1536
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177
tests/drivers/stepper/shell/src/main.c
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tests/drivers/stepper/shell/src/main.c
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/*
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* Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <string.h>
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#include <zephyr/drivers/stepper.h>
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#include <zephyr/drivers/stepper/stepper_fake.h>
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#include <zephyr/fff.h>
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#include <zephyr/shell/shell.h>
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#include <zephyr/shell/shell_dummy.h>
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#include <zephyr/ztest.h>
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#include <zephyr/sys/util.h>
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#define FAKE_STEPPER_NAME DEVICE_DT_NAME(DT_NODELABEL(fake_stepper))
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/* Global variables */
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static const struct device *const fake_stepper_dev = DEVICE_DT_GET(DT_NODELABEL(fake_stepper));
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DEFINE_FFF_GLOBALS;
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#define ASSERT_STEPPER_FUNC_CALLED(stepper_fake_func, retval) \
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zassert_ok(retval, "failed to execute shell command (err %d)", retval); \
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zassert_equal(stepper_fake_func.call_count, 1, \
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STRINGIFY(stepper_fake_func) " function not called"); \
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zassert_equal(stepper_fake_func.arg0_val, fake_stepper_dev, "wrong device pointer")
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static void *stepper_shell_setup(void)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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/* Wait for the initialization of the shell dummy backend. */
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WAIT_FOR(shell_ready(sh), 20000, k_msleep(1));
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zassert_true(shell_ready(sh), "timed out waiting for dummy shell backend");
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return NULL;
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}
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ZTEST_SUITE(stepper_shell, NULL, stepper_shell_setup, NULL, NULL, NULL);
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ZTEST(stepper_shell, test_stepper_enable)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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int err = shell_execute_cmd(sh, "stepper enable " FAKE_STEPPER_NAME " on");
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ASSERT_STEPPER_FUNC_CALLED(fake_stepper_enable_fake, err);
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zassert_equal(fake_stepper_enable_fake.arg1_val, true, "wrong enable value");
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RESET_FAKE(fake_stepper_enable);
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err = shell_execute_cmd(sh, "stepper enable " FAKE_STEPPER_NAME " off");
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ASSERT_STEPPER_FUNC_CALLED(fake_stepper_enable_fake, err);
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zassert_equal(fake_stepper_enable_fake.arg1_val, false, "wrong enable value");
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}
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ZTEST(stepper_shell, test_stepper_move)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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int err = shell_execute_cmd(sh, "stepper move " FAKE_STEPPER_NAME " 1000");
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ASSERT_STEPPER_FUNC_CALLED(fake_stepper_move_fake, err);
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zassert_equal(fake_stepper_move_fake.arg1_val, 1000, "wrong microsteps value");
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#ifdef CONFIG_STEPPER_SHELL_ASYNC
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zassert_not_null(fake_stepper_move_fake.arg2_val, "async poll signal not be null");
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#else
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zassert_is_null(fake_stepper_move_fake.arg2_val, "async poll signal is null");
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#endif /* CONFIG_STEPPER_SHELL_ASYNC */
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}
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ZTEST(stepper_shell, test_stepper_set_max_velocity)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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int err = shell_execute_cmd(sh, "stepper set_max_velocity " FAKE_STEPPER_NAME " 200");
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ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_max_velocity_fake, err);
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zassert_equal(fake_stepper_set_max_velocity_fake.arg1_val, 200, "wrong velocity value");
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}
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ZTEST(stepper_shell, test_stepper_set_micro_step_res)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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int err = shell_execute_cmd(sh, "stepper set_micro_step_res " FAKE_STEPPER_NAME " 64");
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ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_micro_step_res_fake, err);
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zassert_equal(fake_stepper_set_micro_step_res_fake.arg1_val, 64,
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"wrong micro steps resolution value");
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}
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ZTEST(stepper_shell, test_stepper_set_micro_step_res_invalid_value)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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int err = shell_execute_cmd(sh, "stepper set_micro_step_res " FAKE_STEPPER_NAME " 111");
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zassert_not_equal(err, 0, " executed set_micro_step_res with invalid micro steps value");
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}
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ZTEST(stepper_shell, test_stepper_get_micro_step_res)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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int err = shell_execute_cmd(sh, "stepper get_micro_step_res " FAKE_STEPPER_NAME);
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ASSERT_STEPPER_FUNC_CALLED(fake_stepper_get_micro_step_res_fake, err);
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}
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ZTEST(stepper_shell, test_stepper_set_actual_position)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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int err = shell_execute_cmd(sh, "stepper set_actual_position " FAKE_STEPPER_NAME " 100");
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ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_actual_position_fake, err);
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zassert_equal(fake_stepper_set_actual_position_fake.arg1_val, 100,
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"wrong actual position value");
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}
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ZTEST(stepper_shell, test_stepper_get_actual_position)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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int err = shell_execute_cmd(sh, "stepper get_actual_position " FAKE_STEPPER_NAME);
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ASSERT_STEPPER_FUNC_CALLED(fake_stepper_get_actual_position_fake, err);
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}
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ZTEST(stepper_shell, test_stepper_set_target_position)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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int err = shell_execute_cmd(sh, "stepper set_target_position " FAKE_STEPPER_NAME " 200");
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ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_target_position_fake, err);
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zassert_equal(fake_stepper_set_target_position_fake.arg1_val, 200,
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"wrong target position value");
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#ifdef CONFIG_STEPPER_SHELL_ASYNC
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zassert_not_null(fake_stepper_set_target_position_fake.arg2_val,
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"async poll signal not be null");
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#else
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zassert_is_null(fake_stepper_set_target_position_fake.arg2_val,
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"async poll signal is null");
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#endif /* CONFIG_STEPPER_SHELL_ASYNC */
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}
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ZTEST(stepper_shell, test_stepper_enable_constant_velocity_mode)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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int err = shell_execute_cmd(sh, "stepper enable_constant_velocity_mode " FAKE_STEPPER_NAME
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" positive 200");
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ASSERT_STEPPER_FUNC_CALLED(fake_stepper_enable_constant_velocity_mode_fake, err);
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zassert_equal(fake_stepper_enable_constant_velocity_mode_fake.arg1_val,
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STEPPER_DIRECTION_POSITIVE, "wrong direction value");
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zassert_equal(fake_stepper_enable_constant_velocity_mode_fake.arg2_val, 200,
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"wrong velocity value");
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}
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ZTEST(stepper_shell, test_stepper_enable_constant_velocity_mode_invalid_direction)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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int err = shell_execute_cmd(sh, "stepper enable_constant_velocity_mode " FAKE_STEPPER_NAME
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" foo 200");
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zassert_not_equal(err, 0,
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" executed enable_constant_velocity_mode with invalid direction value");
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}
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ZTEST(stepper_shell, test_stepper_info)
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{
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const struct shell *sh = shell_backend_dummy_get_ptr();
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int err = shell_execute_cmd(sh, "stepper info " FAKE_STEPPER_NAME);
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zassert_ok(err, "failed to execute shell command (err %d)", err);
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zassert_equal(fake_stepper_is_moving_fake.call_count, 1, "is_moving function not called");
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zassert_equal(fake_stepper_get_actual_position_fake.call_count, 1,
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"get_actual_position function not called");
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zassert_equal(fake_stepper_get_micro_step_res_fake.call_count, 1,
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"get_micro_step_res function not called");
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}
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17
tests/drivers/stepper/shell/testcase.yaml
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17
tests/drivers/stepper/shell/testcase.yaml
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common:
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tags:
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- drivers
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- stepper
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- shell
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tests:
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drivers.stepper.shell:
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integration_platforms:
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- native_sim
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- native_sim/native/64
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drivers.stepper.shell_async:
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integration_platforms:
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- native_sim
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- native_sim/native/64
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extra_configs:
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- CONFIG_STEPPER_SHELL_ASYNC=y
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