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>

tests/drivers/stepper/shell/CMakeLists.txt

@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(can_shell)
+
+FILE(GLOB app_sources src/*.c)
+target_sources(app PRIVATE ${app_sources})

tests/drivers/stepper/shell/app.overlay

@@ -0,0 +1,12 @@
+/*
+ * Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/{
+	fake_stepper: fake_stepper {
+		compatible = "zephyr,fake-stepper";
+		status = "okay";
+	};
+};

tests/drivers/stepper/shell/prj.conf

@@ -0,0 +1,7 @@
+CONFIG_SHELL=y
+CONFIG_SHELL_BACKEND_SERIAL=n
+CONFIG_SHELL_BACKEND_DUMMY=y
+CONFIG_STEPPER=y
+CONFIG_STEPPER_SHELL=y
+CONFIG_ZTEST=y
+CONFIG_ZTEST_STACK_SIZE=1536

tests/drivers/stepper/shell/src/main.c

@@ -0,0 +1,177 @@
+/*
+ * Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <string.h>
+
+#include <zephyr/drivers/stepper.h>
+#include <zephyr/drivers/stepper/stepper_fake.h>
+#include <zephyr/fff.h>
+#include <zephyr/shell/shell.h>
+#include <zephyr/shell/shell_dummy.h>
+#include <zephyr/ztest.h>
+#include <zephyr/sys/util.h>
+
+#define FAKE_STEPPER_NAME DEVICE_DT_NAME(DT_NODELABEL(fake_stepper))
+
+/* Global variables */
+static const struct device *const fake_stepper_dev = DEVICE_DT_GET(DT_NODELABEL(fake_stepper));
+
+DEFINE_FFF_GLOBALS;
+
+#define ASSERT_STEPPER_FUNC_CALLED(stepper_fake_func, retval)                                      \
+	zassert_ok(retval, "failed to execute shell command (err %d)", retval);                    \
+	zassert_equal(stepper_fake_func.call_count, 1,                                             \
+		      STRINGIFY(stepper_fake_func) " function not called");                        \
+	zassert_equal(stepper_fake_func.arg0_val, fake_stepper_dev, "wrong device pointer")
+
+static void *stepper_shell_setup(void)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+
+	/* Wait for the initialization of the shell dummy backend. */
+	WAIT_FOR(shell_ready(sh), 20000, k_msleep(1));
+	zassert_true(shell_ready(sh), "timed out waiting for dummy shell backend");
+
+	return NULL;
+}
+
+ZTEST_SUITE(stepper_shell, NULL, stepper_shell_setup, NULL, NULL, NULL);
+
+ZTEST(stepper_shell, test_stepper_enable)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper enable " FAKE_STEPPER_NAME " on");
+
+	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_enable_fake, err);
+	zassert_equal(fake_stepper_enable_fake.arg1_val, true, "wrong enable value");
+
+	RESET_FAKE(fake_stepper_enable);
+
+	err = shell_execute_cmd(sh, "stepper enable " FAKE_STEPPER_NAME " off");
+	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_enable_fake, err);
+	zassert_equal(fake_stepper_enable_fake.arg1_val, false, "wrong enable value");
+}
+
+ZTEST(stepper_shell, test_stepper_move)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper move " FAKE_STEPPER_NAME " 1000");
+
+	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_move_fake, err);
+	zassert_equal(fake_stepper_move_fake.arg1_val, 1000, "wrong microsteps value");
+#ifdef CONFIG_STEPPER_SHELL_ASYNC
+	zassert_not_null(fake_stepper_move_fake.arg2_val, "async poll signal not be null");
+#else
+	zassert_is_null(fake_stepper_move_fake.arg2_val, "async poll signal is null");
+#endif /* CONFIG_STEPPER_SHELL_ASYNC */
+}
+
+ZTEST(stepper_shell, test_stepper_set_max_velocity)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper set_max_velocity " FAKE_STEPPER_NAME " 200");
+
+	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_max_velocity_fake, err);
+	zassert_equal(fake_stepper_set_max_velocity_fake.arg1_val, 200, "wrong velocity value");
+}
+
+ZTEST(stepper_shell, test_stepper_set_micro_step_res)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper set_micro_step_res " FAKE_STEPPER_NAME " 64");
+
+	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_micro_step_res_fake, err);
+	zassert_equal(fake_stepper_set_micro_step_res_fake.arg1_val, 64,
+		      "wrong micro steps resolution value");
+}
+
+ZTEST(stepper_shell, test_stepper_set_micro_step_res_invalid_value)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper set_micro_step_res " FAKE_STEPPER_NAME " 111");
+
+	zassert_not_equal(err, 0, " executed set_micro_step_res with invalid micro steps value");
+}
+
+ZTEST(stepper_shell, test_stepper_get_micro_step_res)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper get_micro_step_res " FAKE_STEPPER_NAME);
+
+	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_get_micro_step_res_fake, err);
+}
+
+ZTEST(stepper_shell, test_stepper_set_actual_position)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper set_actual_position " FAKE_STEPPER_NAME " 100");
+
+	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_actual_position_fake, err);
+	zassert_equal(fake_stepper_set_actual_position_fake.arg1_val, 100,
+		      "wrong actual position value");
+}
+
+ZTEST(stepper_shell, test_stepper_get_actual_position)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper get_actual_position " FAKE_STEPPER_NAME);
+
+	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_get_actual_position_fake, err);
+}
+
+ZTEST(stepper_shell, test_stepper_set_target_position)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper set_target_position " FAKE_STEPPER_NAME " 200");
+
+	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_target_position_fake, err);
+	zassert_equal(fake_stepper_set_target_position_fake.arg1_val, 200,
+		      "wrong target position value");
+#ifdef CONFIG_STEPPER_SHELL_ASYNC
+	zassert_not_null(fake_stepper_set_target_position_fake.arg2_val,
+			 "async poll signal not be null");
+#else
+	zassert_is_null(fake_stepper_set_target_position_fake.arg2_val,
+			"async poll signal is null");
+#endif /* CONFIG_STEPPER_SHELL_ASYNC */
+}
+
+ZTEST(stepper_shell, test_stepper_enable_constant_velocity_mode)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper enable_constant_velocity_mode " FAKE_STEPPER_NAME
+					" positive 200");
+
+	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_enable_constant_velocity_mode_fake, err);
+	zassert_equal(fake_stepper_enable_constant_velocity_mode_fake.arg1_val,
+		      STEPPER_DIRECTION_POSITIVE, "wrong direction value");
+	zassert_equal(fake_stepper_enable_constant_velocity_mode_fake.arg2_val, 200,
+		      "wrong velocity value");
+}
+
+ZTEST(stepper_shell, test_stepper_enable_constant_velocity_mode_invalid_direction)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper enable_constant_velocity_mode " FAKE_STEPPER_NAME
+					" foo 200");
+
+	zassert_not_equal(err, 0,
+			  " executed enable_constant_velocity_mode with invalid direction value");
+}
+
+ZTEST(stepper_shell, test_stepper_info)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper info " FAKE_STEPPER_NAME);
+
+	zassert_ok(err, "failed to execute shell command (err %d)", err);
+
+	zassert_equal(fake_stepper_is_moving_fake.call_count, 1, "is_moving function not called");
+	zassert_equal(fake_stepper_get_actual_position_fake.call_count, 1,
+		      "get_actual_position function not called");
+	zassert_equal(fake_stepper_get_micro_step_res_fake.call_count, 1,
+		      "get_micro_step_res function not called");
+}

tests/drivers/stepper/shell/testcase.yaml

@@ -0,0 +1,17 @@
+common:
+  tags:
+    - drivers
+    - stepper
+    - shell
+
+tests:
+  drivers.stepper.shell:
+    integration_platforms:
+      - native_sim
+      - native_sim/native/64
+  drivers.stepper.shell_async:
+    integration_platforms:
+      - native_sim
+      - native_sim/native/64
+    extra_configs:
+      - CONFIG_STEPPER_SHELL_ASYNC=y