ServoPID: Add unit tests for serial and fix bug receiving several messages

Author: Marcus Sonestedt

ServoPID/ServoPID.sln.DotSettings

@@ -1,4 +1,8 @@
 <wpf:ResourceDictionary xml:space="preserve" xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml" xmlns:s="clr-namespace:System;assembly=mscorlib" xmlns:ss="urn:shemas-jetbrains-com:settings-storage-xaml" xmlns:wpf="http://schemas.microsoft.com/winfx/2006/xaml/presentation">
 	<s:Boolean x:Key="/Default/CodeInspection/CodeAnnotations/NamespacesWithAnnotations/=ServoPIDControl_002EAnnotations/@EntryIndexedValue">True</s:Boolean>
+	<s:Boolean x:Key="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_COMMENTS/@EntryValue">True</s:Boolean>
+	<s:Boolean x:Key="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_DECLARATION_NAMES/@EntryValue">True</s:Boolean>
+	<s:String x:Key="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue">Inner</s:String>
+	<s:Boolean x:Key="/Default/CodeStyle/CodeFormatting/CppFormatting/OUTDENT_COMMAS/@EntryValue">True</s:Boolean>
 	<s:Boolean x:Key="/Default/UserDictionary/Words/=Arduino/@EntryIndexedValue">True</s:Boolean>
 	<s:Boolean x:Key="/Default/UserDictionary/Words/=coeff/@EntryIndexedValue">True</s:Boolean></wpf:ResourceDictionary>

ServoPID/TestServoPID/ArduinoMock.h

@@ -79,12 +79,26 @@ class MockSerial
         dataRead.assign(str.rbegin(), str.rend());
     }
 
+    void setMockData(const std::vector<char>& data)
+    {
+        dataRead.assign(data.rbegin(), data.rend());
+    }
+
     template<typename T>
     void println(T value, int format = 3) { dataWrite << value; }
 
     template<typename T>
     void print(T value, int format = 3) { dataWrite << value; }
 
+    void flush() {}
+
+    void resetMock()
+    {
+        dataRead.clear();
+        dataWrite.clear();
+        dataWrite.str(std::string());
+    }
+
     std::vector<char> dataRead;
     std::stringstream dataWrite;
 };

ServoPID/TestServoPID/TestSerial.cpp

@@ -0,0 +1,110 @@
+#include "pch.h"
+
+#include "../servopid.ino"
+
+class SerialTest : public testing::Test
+{
+public:
+    SerialTest() = default;
+
+    void SetUp() override
+    {
+        Serial.resetMock();
+        serialLen = 0;
+        memset(serialBuf, 0, sizeof serialBuf);
+    }
+
+    std::string GetSerialLine()
+    {
+        std::string resp;
+        std::getline(Serial.dataWrite, resp);
+        return resp;
+    }
+
+    void TearDown() override
+    {
+    }
+};
+
+TEST_F(SerialTest, CheckFixture)
+{
+    EXPECT_EQ(serialLen, 0);
+    EXPECT_EQ(Serial.available(), 0);
+}
+
+TEST_F(SerialTest, CheckReset)
+{
+    Serial.setMockData("RST\n");
+    EXPECT_GE(Serial.available(), 0);
+
+    mySerialEvent();
+    EXPECT_EQ(serialLen, 0);
+
+    EXPECT_EQ("RST ACK", GetSerialLine());
+}
+
+TEST_F(SerialTest, CheckGetNumServos)
+{
+    const std::vector<char> data{2, char(Command::GetNumServos)};
+
+    Serial.setMockData(data);
+    mySerialEvent();
+    EXPECT_EQ(serialLen, 0);
+
+    EXPECT_EQ("NS 4", GetSerialLine());
+    EXPECT_EQ(GetSerialLine().length(), 0);
+}
+
+
+TEST_F(SerialTest, CheckGetNumServosTwice)
+{
+    const std::vector<char> data{2, char(Command::GetNumServos), 2, char(Command::GetNumServos)};
+
+    Serial.setMockData(data);
+    mySerialEvent();
+    EXPECT_EQ(serialLen, 0);
+
+    EXPECT_EQ("NS 4", GetSerialLine());
+    EXPECT_EQ("NS 4", GetSerialLine());
+    EXPECT_EQ(GetSerialLine(), "");
+}
+
+
+
+TEST_F(SerialTest, GetServoParams)
+{
+    const std::vector<char> data{2, char(Command::GetServoParams)};
+
+    Serial.setMockData(data);
+    EXPECT_GE(Serial.available(), 0);
+
+    mySerialEvent();
+    EXPECT_EQ(serialLen, 0);
+
+    using ::testing::StartsWith;
+
+    EXPECT_THAT(GetSerialLine(), StartsWith("SP 0 "));
+    EXPECT_THAT(GetSerialLine(), StartsWith("SP 1 "));
+    EXPECT_THAT(GetSerialLine(), StartsWith("SP 2 "));
+    EXPECT_THAT(GetSerialLine(), StartsWith("SP 3 "));
+    ASSERT_EQ(GetSerialLine(), "");
+}
+
+TEST_F(SerialTest, GetServoData)
+{
+    const std::vector<char> data{3, char(Command::GetServoData), 5};
+
+    Serial.setMockData(data);
+    EXPECT_GE(Serial.available(), 0);
+
+    mySerialEvent();
+    EXPECT_EQ(serialLen, 0);
+
+    using ::testing::StartsWith;
+
+    EXPECT_THAT(GetSerialLine(), StartsWith("SD 0 "));
+    EXPECT_THAT(GetSerialLine(), StartsWith("SD 1 "));
+    EXPECT_THAT(GetSerialLine(), StartsWith("SD 2 "));
+    EXPECT_THAT(GetSerialLine(), StartsWith("SD 3 "));
+    ASSERT_EQ(GetSerialLine(), "");
+}

ServoPID/TestServoPID/TestServoPID.vcxproj

@@ -161,6 +161,7 @@
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
     </ClCompile>
     <ClCompile Include="TestPID.cpp" />
+    <ClCompile Include="TestSerial.cpp" />
   </ItemGroup>
   <ItemGroup>
     <None Include="README.md" />

ServoPID/TestServoPID/TestServoPID.vcxproj.filters

@@ -30,6 +30,9 @@
     <ClCompile Include="PCA9685Mock.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="TestSerial.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <None Include="README.md" />

ServoPID/TestServoPID/pch.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <gtest/gtest.h>
+#include <gmock/gmock.h>
 
 #include <vector>
 #include <string>