STABLE, 36.3% Firmware coverage.

farmbot_firmware/lib/farmbot_firmware.ex

@@ -502,8 +502,14 @@ defmodule FarmbotFirmware do
     end
   end
 
-  def handle_call({_tag, _code} = gcode, from, state) do
-    handle_command(gcode, from, state)
+  def handle_call({tag, {kind, args}}, from, state) do
+    handle_command({tag, {kind, args}}, from, state)
+  end
+
+  # TODO(RICK): Not sure if this is required.
+  # Some commands were missing a tag.
+  def handle_call({kind, args}, from, state) do
+    handle_command({nil, {kind, args}}, from, state)
   end
 
   @doc false

farmbot_firmware/test/farmbot_firmware/command_test.exs

@@ -6,84 +6,57 @@ defmodule FarmbotFirmware.CommandTest do
   import ExUnit.CaptureLog
   @subject FarmbotFirmware.Command
 
+  def try_command(pid, cmd) do
+    # @subject.command(pid, cmd)
+    GenServer.call(pid, cmd, :infinity)
+  end
+
   def firmware_server do
     arg = [transport: FarmbotFirmware.StubTransport]
     {:ok, pid} = FarmbotFirmware.start_link(arg, [])
+    send(pid, :timeout)
+    try_command(pid, {nil, {:command_emergency_lock, []}})
+    try_command(pid, {nil, {:command_emergency_unlock, []}})
     pid
   end
 
-  def try_command(cmd, pid \\ firmware_server()) do
-    @subject.command(pid, cmd)
-  end
-
-  @tag :this_is_the_bug
-  test "direct call (delete this later)" do
+  test "various command()s" do
     pid = firmware_server()
 
-    {:error, result} =
-      GenServer.call(pid, {:command_emergency_lock, []}, :infinity)
+    cmds = [
+      # TEST VALUES EXTRACTED FROM A REAL BOT
+      # They may change over time, so a test failure
+      # is  not necessarily indicitive of a defect,
+      # but it *IS* indicitve of a change (perhaps unepxected?)
+      # in runtime behavior.
+      #
+      # Approach with caution.
+      {:pin_mode_write, [p: 13, m: 1]},
+      {"1", {:position_write_zero, [:x]}},
+      {"23", {:parameter_write, [movement_invert_2_endpoints_y: 1.0]}},
+      {"24", {:parameter_write, [movement_stop_at_home_x: 0.0]}},
+      {"40", {:pin_write, [p: 13, v: 0, m: 0]}},
+      {"49", {:pin_mode_write, [p: 13, m: 1]}},
+      {"55", {:pin_mode_write, [p: 13, m: 1]}},
+      {"59", {:pin_mode_write, [p: 13, m: 1]}},
+      {"94", {:parameter_write, [movement_home_up_y: 1.0]}},
+      {"94", {:pin_write, [p: 13, v: 1, m: 0]}},
+      {"98", {:parameter_write, [movement_home_up_y: 0.0]}},
+      {"99", {:parameter_write, [movement_stop_at_home_x: 1.0]}},
+      {nil, {:command_emergency_lock, []}},
+      {nil, {:command_emergency_lock, []}},
+      {nil,
+       {:command_movement,
+        [x: 0.0, y: 0.0, z: 0.0, a: 400.0, b: 400.0, c: 400.0]}},
+      {nil,
+       {:command_movement,
+        [x: 0.0, y: 0.0, z: 10.0, a: 400.0, b: 400.0, c: 400.0]}},
+      {nil, {:command_emergency_lock, []}}
+    ]
 
-    assert result == :transport_boot
-  end
-
-  @tag :skip
-  test "various command()s" do
-    assert {:ok, nil} == try_command({:command_emergency_lock, []})
-    assert {:ok, "1"} == try_command({:pin_mode_write, [p: 13, m: 1]})
-    assert {:ok, "1"} == try_command({"1", {:position_write_zero, [:x]}})
-
-    assert {:ok, "23"} ==
-             try_command(
-               {"23", {:parameter_write, [movement_invert_2_endpoints_y: 1.0]}}
-             )
-
-    assert {:ok, "24"} ==
-             try_command(
-               {"24", {:parameter_write, [movement_stop_at_home_x: 0.0]}}
-             )
-
-    assert {:ok, "40"} == try_command({"40", {:pin_write, [p: 13, v: 0, m: 0]}})
-    assert {:ok, "49"} == try_command({"49", {:pin_mode_write, [p: 13, m: 1]}})
-    assert {:ok, "55"} == try_command({"55", {:pin_mode_write, [p: 13, m: 1]}})
-    assert {:ok, "59"} == try_command({"59", {:pin_mode_write, [p: 13, m: 1]}})
-
-    assert {:ok, "94"} ==
-             try_command({"94", {:parameter_write, [movement_home_up_y: 1.0]}})
-
-    assert {:ok, "94"} == try_command({"94", {:pin_write, [p: 13, v: 1, m: 0]}})
-
-    assert {:ok, "98"} ==
-             try_command({"98", {:parameter_write, [movement_home_up_y: 0.0]}})
-
-    assert {:ok, "99"} ==
-             try_command(
-               {"99", {:parameter_write, [movement_stop_at_home_x: 1.0]}}
-             )
-
-    assert {:ok, nil} == try_command({nil, {:command_emergency_lock, []}})
-    assert {:ok, nil} == try_command({nil, {:command_emergency_lock, []}})
-
-    assert {:ok, nil} ==
-             try_command(
-               {nil,
-                {:command_movement,
-                 [x: 0.0, y: 0.0, z: 0.0, a: 400.0, b: 400.0, c: 400.0]}}
-             )
-
-    assert {:ok, nil} ==
-             try_command(
-               {nil,
-                {:command_movement,
-                 [x: 0.0, y: 0.0, z: 10.0, a: 400.0, b: 400.0, c: 400.0]}}
-             )
-  end
-
-  test "command(), error with tag" do
-    assert {:error, _} = @subject.command(firmware_server(), {:x, {:y, :z}})
-  end
-
-  test "command(), error no tag" do
-    assert {:error, _} = @subject.command(firmware_server(), {:x, :z})
+    Enum.map(cmds, fn {tag, cmd} ->
+      assert {:ok, tag} = try_command(pid, {tag, cmd})
+    end)
   end
 
   test "enable_debug_logs" do