Added first IGpio mock object to ShiftController tests

DallasFormulaRacing · Jul 12, 2024 · fcf52be · fcf52be
1 parent 2511e59
commit fcf52be
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Showing 2 changed files with 44 additions and 10 deletions.
diff --git a/Firmware/Shifter_System/Program/Src/Application/ShiftController/shift_controller.cpp b/Firmware/Shifter_System/Program/Src/Application/ShiftController/shift_controller.cpp
@@ -34,7 +34,7 @@ void ShiftController::LowGear::Enter(ShiftController& context) {
 }
 
 void ShiftController::LowGear::Compute(ShiftController& context) {
-
+	
 }
 
 void ShiftController::LowGear::Exit(ShiftController& context) {
@@ -50,7 +50,9 @@ void ShiftController::Neutral::Enter(ShiftController& context) {
 }
 
 void ShiftController::Neutral::Compute(ShiftController& context) {
-
+	if(context.neutral_switch_->Read()) {
+		context.SetState(&context.low_gear_state_);
+	}
 }
 
 void ShiftController::Neutral::Exit(ShiftController& context) {

diff --git a/Firmware/Tests/Src/Application/shift_controller_tests.cpp b/Firmware/Tests/Src/Application/shift_controller_tests.cpp
@@ -5,17 +5,24 @@
 // DFR Custom Dependencies
 #include "../../../Shifter_System/Program/Src/Application/ShiftController/shift_controller.hpp"
 
+class MockGpio : public platform::IGpio {
+public:
+    MOCK_METHOD(bool, Read, (), (override));
+    MOCK_METHOD(void, Write, (bool signal), (override));
+    MOCK_METHOD(bool, ToggleDetected, (), (override));
+};
+
+
 namespace application {
 
 class ShiftControllerWrapper : public ShiftController {
 public:
-
-    int16_t rpm_;
-	std::array<float, 2> wheel_speeds_;
-
-    ShiftControllerWrapper()
-      : ShiftController(rpm_,
-                        wheel_speeds_) { }
+    ShiftControllerWrapper(int16_t &rpm,
+                          std::array<float, 2> &wheel_speeds,
+                          std::shared_ptr<platform::IGpio> neutral_switch)
+      : ShiftController(rpm,
+                        wheel_speeds,
+                        neutral_switch) { }
 
     bool IsLowGearState() { return dynamic_cast<LowGear*>(current_state_) != nullptr; }
     bool IsNeutralState() { return dynamic_cast<Neutral*>(current_state_) != nullptr; }
@@ -26,11 +33,36 @@ class ShiftControllerWrapper : public ShiftController {
 
 class ShiftControllerFixture : public testing::Test {
 protected:
-    ShiftControllerWrapper shift_controller_;
+    int16_t rpm;
+    std::array<float, 2> wheel_speeds_;
+    std::shared_ptr<MockGpio> neutral_switch_ = std::make_shared<MockGpio>();
+    ShiftControllerWrapper shift_controller_{rpm, wheel_speeds_, neutral_switch_};
 };
 
 TEST_F(ShiftControllerFixture, DefaultToNeutralState) {
     EXPECT_TRUE(shift_controller_.IsNeutralState());
 }
 
+TEST_F(ShiftControllerFixture, TransitionToLowGearState) {
+    EXPECT_TRUE(shift_controller_.IsNeutralState());
+
+    EXPECT_CALL(*neutral_switch_, Read())
+        .Times(1)
+        .WillOnce(::testing::Return(true));
+
+    shift_controller_.Run();
+    EXPECT_TRUE(shift_controller_.IsLowGearState());
+}
+
+TEST_F(ShiftControllerFixture, RemainNeutralState) {
+    EXPECT_TRUE(shift_controller_.IsNeutralState());
+
+    EXPECT_CALL(*neutral_switch_, Read())
+        .Times(1)
+        .WillOnce(::testing::Return(false));
+
+    shift_controller_.Run();
+    EXPECT_TRUE(shift_controller_.IsNeutralState());
+}
+
 } // namespace application