100 lines
3.1 KiB
Elixir
100 lines
3.1 KiB
Elixir
defmodule FarmbotFirmwareTest do
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use ExUnit.Case
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doctest FarmbotFirmware
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def try_command(pid, cmd) do
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GenServer.call(pid, cmd, :infinity)
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end
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def try_cast(pid, cmd) do
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GenServer.cast(pid, cmd)
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end
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def firmware_server do
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arg = [transport: FarmbotFirmware.StubTransport, reset: StubReset]
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{:ok, pid} = FarmbotFirmware.start_link(arg, [])
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send(pid, :timeout)
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try_command(pid, {nil, {:command_emergency_lock, []}})
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try_command(pid, {nil, {:command_emergency_unlock, []}})
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pid
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end
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@tag :capture_log
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test "various reports" do
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pid = firmware_server()
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reports = [
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{:report_begin, []},
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{:report_busy, []},
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{:report_emergency_lock, []},
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{:report_error, [:calibration_error]},
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{:report_error, [:emergency_lock]},
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{:report_error, [:invalid_command]},
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{:report_error, [:no_config]},
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{:report_error, [:no_error]},
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{:report_error, [:other]},
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{:report_error, [:stall_detected]},
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{:report_error, [:stall_detected_x]},
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{:report_error, [:stall_detected_y]},
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{:report_error, [:stall_detected_z]},
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{:report_error, [:timeout]},
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{:report_error, []},
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{:report_home_complete, [:x]},
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{:report_invalid, []},
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{:report_load, 23.0},
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{:report_retry, []},
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{:report_success, []},
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{:report_axis_timeout, [:x]},
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{:report_debug_message, ["Hello"]},
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{:report_axis_state, [x: :idle]},
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{:report_encoders_raw, [x: 1.4, y: 2.3, z: 3.2]},
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{:report_encoders_scaled, [{:x, 100.0}, {:y, 200.0}, {:z, 400.0}]},
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{:report_end_stops, [xa: 1, xb: 2, ya: 3, yb: 4, za: 5, zb: 6]},
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{:report_parameter_value, [{:param_version, 1.2}]},
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{:report_pin_value, [{:p, 1}, {:v, 2}, {:m, 0}, {:q, 3}]},
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{:report_position_change, [{:x, 200.0}]},
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{:report_position, [x: 1.4, y: 2.3, z: 3.2, s: 4.1]},
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{:report_software_version, ["6.5.0.G"]}
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]
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Enum.map(reports, fn report ->
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assert :ok = try_cast(pid, {:x, report})
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end)
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Process.sleep(1000)
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end
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@tag :capture_log
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test "various command()s" do
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pid = firmware_server()
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cmds = [
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# TEST VALUES EXTRACTED FROM A REAL BOT
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# They may change over time, so a test failure
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# is not necessarily indicitive of a defect,
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# but it *IS* indicitve of a change (perhaps unepxected?)
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# in runtime behavior.
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#
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# Approach with caution.
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{:command_movement,
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[x: 0.0, y: 0.0, z: 0.0, a: 400.0, b: 400.0, c: 400.0]},
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{:command_movement,
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[x: 0.0, y: 0.0, z: 10.0, a: 400.0, b: 400.0, c: 400.0]},
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{:parameter_write, [movement_home_up_y: 0.0]},
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{:parameter_write, [movement_home_up_y: 1.0]},
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{:parameter_write, [movement_invert_2_endpoints_y: 1.0]},
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{:parameter_write, [movement_stop_at_home_x: 0.0]},
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{:parameter_write, [movement_stop_at_home_x: 1.0]},
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{:pin_mode_write, [p: 13, m: 1]},
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{:pin_write, [p: 13, v: 0, m: 0]},
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{:pin_write, [p: 13, v: 1, m: 0]},
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{:position_write_zero, [:x]}
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# {:command_emergency_lock, []},
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]
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Enum.map(cmds, fn cmd ->
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assert {:ok, "2"} = try_command(pid, {"2", cmd})
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end)
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end
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end
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