✅ (tests): on device - add deep sleep core pwm tests

tests/functional/CMakeLists.txt

@@ -41,6 +41,7 @@ add_subdirectory(${TESTS_FUNCTIONAL_TESTS_DIR}/boost_ut)
 
 add_subdirectory(${TESTS_FUNCTIONAL_TESTS_DIR}/core_imu)
 add_subdirectory(${TESTS_FUNCTIONAL_TESTS_DIR}/deep_sleep_core_buffered_serial)
+add_subdirectory(${TESTS_FUNCTIONAL_TESTS_DIR}/deep_sleep_core_pwm)
 add_subdirectory(${TESTS_FUNCTIONAL_TESTS_DIR}/deep_sleep_log_kit)
 add_subdirectory(${TESTS_FUNCTIONAL_TESTS_DIR}/deep_sleep_mbed_hal)
 add_subdirectory(${TESTS_FUNCTIONAL_TESTS_DIR}/file_manager)

tests/functional/tests/deep_sleep_core_pwm/CMakeLists.txt

@@ -0,0 +1,16 @@
+# Leka - LekaOS
+# Copyright 2022 APF France handicap
+# SPDX-License-Identifier: Apache-2.0
+
+register_functional_test(
+	TARGET
+		functional_ut_deep_sleep_core_pwm
+
+	INCLUDE_DIRECTORIES
+
+	SOURCES
+		suite_core_pwm.cpp
+
+	LINK_LIBRARIES
+		CorePwm
+)

tests/functional/tests/deep_sleep_core_pwm/suite_core_pwm.cpp

@@ -0,0 +1,209 @@
+// Leka - LekaOS
+// Copyright 2022 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#include <cstddef>
+
+#include "CorePwm.h"
+#include "tests/config.h"
+#include "tests/utils.h"
+#include "tests/utils_sleep.h"
+
+using namespace leka;
+using namespace boost::ut;
+using namespace std::chrono;
+using namespace boost::ut::bdd;
+
+suite suite_core_pwm = [] {
+	scenario("write") = [] {
+		given("pwm is in default configuration") = [] {
+			auto pwm = CorePwm(MOTOR_LEFT_PWM);
+
+			expect(neq(&pwm, nullptr));
+
+			when("I do nothing") = [&] {
+				then("I expect deep sleep TO NOT BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(not status.can_deep_sleep);
+					expect(not status.test_check_ok);
+				};
+			};
+
+			when("pwm is running at 100%") = [&] {
+				pwm.write(1.0);
+
+				then("I expect deep sleep TO NOT BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(not status.can_deep_sleep);
+					expect(not status.test_check_ok);
+				};
+			};
+
+			when("pwm is running at 50%") = [&] {
+				pwm.write(0.5);
+
+				then("I expect deep sleep TO NOT BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(not status.can_deep_sleep);
+					expect(not status.test_check_ok);
+				};
+			};
+
+			when("pwm is running at 0%") = [&] {
+				pwm.write(0.0);
+
+				then("I expect deep sleep TO NOT BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(not status.can_deep_sleep);
+					expect(not status.test_check_ok);
+				};
+			};
+		};
+	};
+
+	scenario("suspend, resume") = [] {
+		given("pwm is in default configuration") = [] {
+			auto pwm = CorePwm(MOTOR_LEFT_PWM);
+
+			expect(neq(&pwm, nullptr));
+
+			when("I do nothing") = [&] {
+				then("I expect deep sleep TO NOT BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(not status.can_deep_sleep);
+					expect(not status.test_check_ok);
+				};
+			};
+
+			when("pwm is suspended") = [&] {
+				pwm.suspend();
+				rtos::ThisThread::sleep_for(5ms);
+
+				then("I expect deep sleep TO BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(status.can_deep_sleep);
+					expect(status.test_check_ok);
+				};
+			};
+
+			when("pwm is resumed") = [&] {
+				pwm.resume();
+
+				then("I expect deep sleep TO NOT BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(not status.can_deep_sleep);
+					expect(not status.test_check_ok);
+				};
+			};
+		};
+	};
+
+	scenario("write 100%, suspend, resume") = [] {
+		given("pwm is in default configuration") = [] {
+			auto pwm = CorePwm(MOTOR_LEFT_PWM);
+
+			expect(neq(&pwm, nullptr));
+
+			when("I do nothing") = [&] {
+				then("I expect deep sleep TO NOT BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(not status.can_deep_sleep);
+					expect(not status.test_check_ok);
+				};
+			};
+
+			when("pwm is running at 100%") = [&] {
+				pwm.write(1.0);
+
+				then("I expect deep sleep TO NOT BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(not status.can_deep_sleep);
+					expect(not status.test_check_ok);
+				};
+			};
+
+			when("pwm is suspended") = [&] {
+				pwm.suspend();
+				rtos::ThisThread::sleep_for(5ms);
+
+				then("I expect deep sleep TO BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(status.can_deep_sleep);
+					expect(status.test_check_ok);
+				};
+			};
+
+			when("pwm is resumed") = [&] {
+				pwm.resume();
+
+				then("I expect deep sleep TO BE NOT possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(not status.can_deep_sleep);
+					expect(not status.test_check_ok);
+				};
+			};
+		};
+	};
+
+	scenario("suspend, write 0%, resume") = [] {
+		given("pwm is in default configuration") = [] {
+			auto pwm = CorePwm(MOTOR_LEFT_PWM);
+
+			expect(neq(&pwm, nullptr));
+
+			when("I do nothing") = [&] {
+				then("I expect deep sleep TO NOT BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(not status.can_deep_sleep);
+					expect(not status.test_check_ok);
+				};
+			};
+
+			when("pwm is running at 0%") = [&] {
+				pwm.write(0.0);
+
+				then("I expect deep sleep TO NOT BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(not status.can_deep_sleep);
+					expect(not status.test_check_ok);
+				};
+			};
+
+			when("pwm is suspended") = [&] {
+				pwm.suspend();
+				rtos::ThisThread::sleep_for(5ms);
+
+				then("I expect deep sleep TO BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(status.can_deep_sleep);
+					expect(status.test_check_ok);
+				};
+			};
+
+			when("pwm is resumed") = [&] {
+				pwm.resume();
+
+				then("I expect deep sleep TO NOT BE possible") = [] {
+					auto status = utils::sleep::system_deep_sleep_check();
+
+					expect(not status.can_deep_sleep);
+					expect(not status.test_check_ok);
+				};
+			};
+		};
+	};
+};