drivers: stepper: shell: add stop function

Add stop function to stepper shell. align the function order to match
the one in __subsystem stepper_driver_api struct

Signed-off-by: Jilay Pandya <[email protected]>

Author: jilaypandya

drivers/stepper/fake_stepper_controller.c

@@ -41,6 +41,8 @@ DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_move_to, const struct device *, int32_t
 
 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_run, const struct device *, enum stepper_direction);
 
+DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_stop, const struct device *);
+
 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_event_callback, const struct device *,
 		       stepper_event_callback_t, void *);
 
@@ -98,6 +100,7 @@ static void fake_stepper_reset_rule_before(const struct ztest_unit_test *test, v
 	RESET_FAKE(fake_stepper_get_actual_position);
 	RESET_FAKE(fake_stepper_move_to);
 	RESET_FAKE(fake_stepper_run);
+	RESET_FAKE(fake_stepper_stop);
 
 	/* Install custom fakes for the setter and getter functions */
 	fake_stepper_set_micro_step_res_fake.custom_fake = fake_stepper_set_micro_step_res_delegate;
@@ -134,6 +137,7 @@ static DEVICE_API(stepper, fake_stepper_driver_api) = {
 	.get_actual_position = fake_stepper_get_actual_position,
 	.move_to = fake_stepper_move_to,
 	.run = fake_stepper_run,
+	.stop = fake_stepper_stop,
 	.set_event_callback = fake_stepper_set_event_callback,
 };
 

drivers/stepper/stepper_shell.c

@@ -61,6 +61,9 @@ static void print_callback(const struct device *dev, const enum stepper_event ev
 	case STEPPER_EVENT_RIGHT_END_STOP_DETECTED:
 		shell_info(sh, "%s: Right limit switch pressed.", dev->name);
 		break;
+	case STEPPER_EVENT_STOPPED:
+		shell_info(sh, "%s: Stepper stopped.", dev->name);
+		break;
 	default:
 		shell_info(sh, "%s: Unknown signal received.", dev->name);
 		break;
@@ -195,6 +198,30 @@ static int cmd_stepper_enable(const struct shell *sh, size_t argc, char **argv)
 	return err;
 }
 
+static int cmd_stepper_stop(const struct shell *sh, size_t argc, char **argv)
+{
+	const struct device *dev;
+	int err = 0;
+
+	err = parse_device_arg(sh, argv, &dev);
+	if (err < 0) {
+		return err;
+	}
+
+	err = stepper_stop(dev);
+	if (err) {
+		shell_error(sh, "Error: %d", err);
+		return err;
+	}
+
+	err = stepper_set_event_callback(dev, print_callback, (void *)sh);
+	if (err != 0) {
+		shell_error(sh, "Failed to set callback: %d", err);
+	}
+
+	return err;
+}
+
 static int cmd_stepper_move_by(const struct shell *sh, size_t argc, char **argv)
 {
 	const struct device *dev;
@@ -452,10 +479,6 @@ SHELL_STATIC_SUBCMD_SET_CREATE(
 	stepper_cmds,
 	SHELL_CMD_ARG(enable, &dsub_pos_stepper_motor_name, "<device> <on/off>", cmd_stepper_enable,
 		      3, 0),
-	SHELL_CMD_ARG(move_by, &dsub_pos_stepper_motor_name, "<device> <microsteps>",
-		      cmd_stepper_move_by, 3, 0),
-	SHELL_CMD_ARG(set_microstep_interval, &dsub_pos_stepper_motor_name,
-		      "<device> <microstep_interval_ns>", cmd_stepper_set_microstep_interval, 3, 0),
 	SHELL_CMD_ARG(set_micro_step_res, &dsub_pos_stepper_motor_name_microstep,
 		      "<device> <resolution>", cmd_stepper_set_micro_step_res, 3, 0),
 	SHELL_CMD_ARG(get_micro_step_res, &dsub_pos_stepper_motor_name, "<device>",
@@ -464,10 +487,15 @@ SHELL_STATIC_SUBCMD_SET_CREATE(
 		      cmd_stepper_set_reference_position, 3, 0),
 	SHELL_CMD_ARG(get_actual_position, &dsub_pos_stepper_motor_name, "<device>",
 		      cmd_stepper_get_actual_position, 2, 0),
+	SHELL_CMD_ARG(set_microstep_interval, &dsub_pos_stepper_motor_name,
+		      "<device> <microstep_interval_ns>", cmd_stepper_set_microstep_interval, 3, 0),
+	SHELL_CMD_ARG(move_by, &dsub_pos_stepper_motor_name, "<device> <microsteps>",
+		      cmd_stepper_move_by, 3, 0),
 	SHELL_CMD_ARG(move_to, &dsub_pos_stepper_motor_name, "<device> <microsteps>",
 		      cmd_stepper_move_to, 3, 0),
 	SHELL_CMD_ARG(run, &dsub_pos_stepper_motor_name_dir, "<device> <direction>",
 		      cmd_stepper_run, 3, 0),
+	SHELL_CMD_ARG(stop, &dsub_pos_stepper_motor_name, "<device>", cmd_stepper_stop, 2, 0),
 	SHELL_CMD_ARG(info, &dsub_pos_stepper_motor_name, "<device>", cmd_stepper_info, 2, 0),
 	SHELL_SUBCMD_SET_END);
 

include/zephyr/drivers/stepper/stepper_fake.h

@@ -36,6 +36,8 @@ DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_is_moving, const struct device *, bool
 
 DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_run, const struct device *, enum stepper_direction);
 
+DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_stop, const struct device *);
+
 DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_event_callback, const struct device *,
 			stepper_event_callback_t, void *);
 

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

@@ -145,6 +145,15 @@ ZTEST(stepper_shell, test_stepper_run_invalid_direction)
 	zassert_not_equal(err, 0, " executed run with invalid direction value");
 }
 
+ZTEST(stepper_shell, test_stepper_stop)
+{
+	const struct shell *sh = shell_backend_dummy_get_ptr();
+	int err = shell_execute_cmd(sh, "stepper stop " FAKE_STEPPER_NAME);
+
+	ASSERT_STEPPER_FUNC_CALLED(fake_stepper_stop_fake, err);
+	zassert_equal(err, 0, "stepper stop could not be executed");
+}
+
 ZTEST(stepper_shell, test_stepper_info)
 {
 	const struct shell *sh = shell_backend_dummy_get_ptr();