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

leka · Nov 28, 2022 · e15564b · e15564b
1 parent 08c84b6
commit e15564b
Showing 1 changed file with 128 additions and 0 deletions.
diff --git a/tests/functional/tests/deep_sleep_core_motor/suite_core_motor.cpp b/tests/functional/tests/deep_sleep_core_motor/suite_core_motor.cpp
@@ -32,6 +32,7 @@ suite suite_core_motor = [] {
 			auto speed = CorePwm {MOTOR_LEFT_PWM};
 
 			auto motor = CoreMotor {dir_1, dir_2, speed};
+			rtos::ThisThread::sleep_for(5ms);
 
 			expect(neq(&motor, nullptr));
 
@@ -45,4 +46,131 @@ suite suite_core_motor = [] {
 			};
 		};
 	};
+
+	scenario("motor spin") = [] {
+		given("motor is in default configuration") = [] {
+			auto dir_1 = mbed::DigitalOut {MOTOR_LEFT_DIRECTION_1};
+			auto dir_2 = mbed::DigitalOut {MOTOR_LEFT_DIRECTION_2};
+			auto speed = CorePwm {MOTOR_LEFT_PWM};
+
+			auto motor = CoreMotor {dir_1, dir_2, speed};
+
+			expect(neq(&motor, nullptr));
+
+			when("I spin the motor at 50%") = [&] {
+				motor.spin(Rotation::clockwise, 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("I spin the motor at 100%") = [&] {
+				motor.spin(Rotation::clockwise, 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("I spin the motor at 0%") = [&] {
+				motor.spin(Rotation::clockwise, 0.0);
+				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);
+				};
+			};
+		};
+	};
+
+	scenario("motor spin, stop, spin, stop") = [] {
+		given("motor is in default configuration") = [] {
+			auto dir_1 = mbed::DigitalOut {MOTOR_LEFT_DIRECTION_1};
+			auto dir_2 = mbed::DigitalOut {MOTOR_LEFT_DIRECTION_2};
+			auto speed = CorePwm {MOTOR_LEFT_PWM};
+
+			auto motor = CoreMotor {dir_1, dir_2, speed};
+
+			expect(neq(&motor, nullptr));
+
+			when("I spin the motor at 50%") = [&] {
+				motor.spin(Rotation::clockwise, 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("I stop the motor") = [&] {
+				motor.stop();
+				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("I spin the motor at 100%") = [&] {
+				motor.spin(Rotation::clockwise, 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("I stop the motor") = [&] {
+				motor.stop();
+				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("I spin the motor at 100%") = [&] {
+				motor.spin(Rotation::clockwise, 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("I spin the motor at 0%") = [&] {
+				motor.spin(Rotation::clockwise, 0.0);
+				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);
+				};
+			};
+		};
+	};
 };