From 2bce13e41969e7907266b17b2624e5c80df651ff Mon Sep 17 00:00:00 2001 From: Ladislas de Toldi Date: Fri, 6 May 2022 15:02:23 +0200 Subject: [PATCH] :white_check_mark: (RobotKit): Replace CoreMotor w/ mock::CoreMotor --- libs/RobotKit/tests/RobotController_test.h | 28 ++++++------------- .../RobotController_test_registerEvents.cpp | 16 +++-------- 2 files changed, 12 insertions(+), 32 deletions(-) diff --git a/libs/RobotKit/tests/RobotController_test.h b/libs/RobotKit/tests/RobotController_test.h index 11b1bb86d6..2cb6b4a03c 100644 --- a/libs/RobotKit/tests/RobotController_test.h +++ b/libs/RobotKit/tests/RobotController_test.h @@ -11,7 +11,6 @@ #include "BehaviorKit.h" #include "CommandKit.h" -#include "CoreMotor.h" #include "CorePwm.h" #include "SerialNumberKit.h" #include "gmock/gmock.h" @@ -19,6 +18,7 @@ #include "mocks/leka/Battery.h" #include "mocks/leka/CoreLCD.h" #include "mocks/leka/CoreLED.h" +#include "mocks/leka/CoreMotor.h" #include "mocks/leka/EventQueue.h" #include "mocks/leka/FirmwareUpdate.h" #include "mocks/leka/LEDAnimation.h" @@ -77,27 +77,19 @@ class RobotControllerTest : public testing::Test mock::LEDAnimation mock_animation {}; - mbed::mock::DigitalOut dir_1_left = {}; - mbed::mock::DigitalOut dir_2_left = {}; - mock::PwmOut speed_left = {}; - - mbed::mock::DigitalOut dir_1_right = {}; - mbed::mock::DigitalOut dir_2_right = {}; - mock::PwmOut speed_right = {}; - - CoreMotor motor_left {dir_1_left, dir_2_left, speed_left}; - CoreMotor motor_right {dir_1_right, dir_2_right, speed_right}; + mock::CoreMotor mock_motor_left {}; + mock::CoreMotor mock_motor_right {}; mock::CoreLCD mock_lcd {}; mock::VideoKit mock_videokit {}; - BehaviorKit bhvkit {mock_videokit, ledkit, motor_left, motor_right}; + BehaviorKit bhvkit {mock_videokit, ledkit, mock_motor_left, mock_motor_right}; CommandKit cmdkit {}; RobotController> rc { - timeout, battery, serialnumberkit, firmware_update, motor_left, motor_right, mock_ears, - mock_belt, ledkit, mock_lcd, mock_videokit, bhvkit, cmdkit}; + timeout, battery, serialnumberkit, firmware_update, mock_motor_left, mock_motor_right, mock_ears, mock_belt, + ledkit, mock_lcd, mock_videokit, bhvkit, cmdkit}; ble::GapMock &mbed_mock_gap = ble::gap_mock(); ble::GattServerMock &mbed_mock_gatt = ble::gatt_server_mock(); @@ -113,12 +105,8 @@ class RobotControllerTest : public testing::Test void expectedCallsStopMotors() { - EXPECT_CALL(dir_1_left, write(0)); - EXPECT_CALL(dir_2_left, write(0)); - EXPECT_CALL(speed_left, write(0)); - EXPECT_CALL(dir_1_right, write(0)); - EXPECT_CALL(dir_2_right, write(0)); - EXPECT_CALL(speed_right, write(0)); + EXPECT_CALL(mock_motor_left, stop()); + EXPECT_CALL(mock_motor_right, stop()); } void expectedCallsInitializeComponents() diff --git a/libs/RobotKit/tests/RobotController_test_registerEvents.cpp b/libs/RobotKit/tests/RobotController_test_registerEvents.cpp index 619e8de274..d30a2d5ba3 100644 --- a/libs/RobotKit/tests/RobotController_test_registerEvents.cpp +++ b/libs/RobotKit/tests/RobotController_test_registerEvents.cpp @@ -160,12 +160,8 @@ TEST_F(RobotControllerTest, onStartChargingBehaviorLevelAbove75) TEST_F(RobotControllerTest, onBleConnection) { - EXPECT_CALL(dir_1_left, write(0)).Times(2); - EXPECT_CALL(dir_2_left, write(0)).Times(2); - EXPECT_CALL(speed_left, write(0)).Times(2); - EXPECT_CALL(dir_1_right, write(0)).Times(2); - EXPECT_CALL(dir_2_right, write(0)).Times(2); - EXPECT_CALL(speed_right, write(0)).Times(2); + EXPECT_CALL(mock_motor_left, stop()).Times(2); + EXPECT_CALL(mock_motor_right, stop()).Times(2); EXPECT_CALL(mock_ears, hide()).Times(1); EXPECT_CALL(mock_belt, hide()).Times(1); EXPECT_CALL(mock_videokit, stopVideo).Times(2); @@ -175,12 +171,8 @@ TEST_F(RobotControllerTest, onBleConnection) TEST_F(RobotControllerTest, onBleDisconnection) { - EXPECT_CALL(dir_1_left, write(0)).Times(2); - EXPECT_CALL(dir_2_left, write(0)).Times(2); - EXPECT_CALL(speed_left, write(0)).Times(2); - EXPECT_CALL(dir_1_right, write(0)).Times(2); - EXPECT_CALL(dir_2_right, write(0)).Times(2); - EXPECT_CALL(speed_right, write(0)).Times(2); + EXPECT_CALL(mock_motor_left, stop()).Times(2); + EXPECT_CALL(mock_motor_right, stop()).Times(2); EXPECT_CALL(mock_ears, hide()).Times(1); EXPECT_CALL(mock_belt, hide()).Times(1); EXPECT_CALL(mock_videokit, stopVideo).Times(2);