zephyr/drivers/stepper/fake_stepper_controller.c

/*
 * SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
 * SPDX-License-Identifier: Apache-2.0
 */

#include <zephyr/device.h>
#include <zephyr/drivers/stepper.h>
#include <zephyr/drivers/stepper/stepper_fake.h>
#include <zephyr/fff.h>

#ifdef CONFIG_ZTEST
#include <zephyr/ztest.h>
#endif /* CONFIG_ZTEST */

#define DT_DRV_COMPAT zephyr_fake_stepper

struct fake_stepper_data {
	enum micro_step_resolution micro_step_res;
	int32_t actual_position;
};

DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_enable, const struct device *, const bool);

DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_is_moving, const struct device *, bool *);

DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_move, const struct device *, const int32_t,
		       struct k_poll_signal *);

DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_max_velocity, const struct device *, const uint32_t);

DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_micro_step_res, const struct device *,
		       const enum micro_step_resolution);

DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_micro_step_res, const struct device *,
		       enum micro_step_resolution *);

DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_actual_position, const struct device *, const int32_t);

DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_actual_position, const struct device *, int32_t *);

DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_target_position, const struct device *, const int32_t,
		       struct k_poll_signal *);

DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_enable_constant_velocity_mode, const struct device *,
		       const enum stepper_direction, const uint32_t);

static int fake_stepper_set_micro_step_res_delegate(const struct device *dev,
						    const enum micro_step_resolution res)
{
	struct fake_stepper_data *data = dev->data;

	data->micro_step_res = res;

	return 0;
}

static int fake_stepper_get_micro_step_res_delegate(const struct device *dev,
						    enum micro_step_resolution *res)
{
	struct fake_stepper_data *data = dev->data;

	*res = data->micro_step_res;

	return 0;
}

static int fake_stepper_set_actual_position_delegate(const struct device *dev, const int32_t pos)
{
	struct fake_stepper_data *data = dev->data;

	data->actual_position = pos;

	return 0;
}

static int fake_stepper_get_actual_position_delegate(const struct device *dev, int32_t *pos)
{
	struct fake_stepper_data *data = dev->data;

	*pos = data->actual_position;

	return 0;
}

#ifdef CONFIG_ZTEST
static void fake_stepper_reset_rule_before(const struct ztest_unit_test *test, void *fixture)
{
	ARG_UNUSED(test);
	ARG_UNUSED(fixture);

	RESET_FAKE(fake_stepper_enable);
	RESET_FAKE(fake_stepper_move);
	RESET_FAKE(fake_stepper_is_moving);
	RESET_FAKE(fake_stepper_set_max_velocity);
	RESET_FAKE(fake_stepper_set_micro_step_res);
	RESET_FAKE(fake_stepper_get_micro_step_res);
	RESET_FAKE(fake_stepper_set_actual_position);
	RESET_FAKE(fake_stepper_get_actual_position);
	RESET_FAKE(fake_stepper_set_target_position);
	RESET_FAKE(fake_stepper_enable_constant_velocity_mode);

	/* Install custom fakes for the setter and getter functions */
	fake_stepper_set_micro_step_res_fake.custom_fake = fake_stepper_set_micro_step_res_delegate;
	fake_stepper_get_micro_step_res_fake.custom_fake = fake_stepper_get_micro_step_res_delegate;
	fake_stepper_set_actual_position_fake.custom_fake =
		fake_stepper_set_actual_position_delegate;
	fake_stepper_get_actual_position_fake.custom_fake =
		fake_stepper_get_actual_position_delegate;
}

ZTEST_RULE(fake_stepper_reset_rule, fake_stepper_reset_rule_before, NULL);
#endif /* CONFIG_ZTEST */

static int fake_stepper_init(const struct device *dev)
{
	fake_stepper_set_micro_step_res_fake.custom_fake = fake_stepper_set_micro_step_res_delegate;
	fake_stepper_get_micro_step_res_fake.custom_fake = fake_stepper_get_micro_step_res_delegate;
	fake_stepper_set_actual_position_fake.custom_fake =
		fake_stepper_set_actual_position_delegate;
	fake_stepper_get_actual_position_fake.custom_fake =
		fake_stepper_get_actual_position_delegate;

	return 0;
}

static const struct stepper_driver_api fake_stepper_driver_api = {
	.enable = fake_stepper_enable,
	.move = fake_stepper_move,
	.is_moving = fake_stepper_is_moving,
	.set_max_velocity = fake_stepper_set_max_velocity,
	.set_micro_step_res = fake_stepper_set_micro_step_res,
	.get_micro_step_res = fake_stepper_get_micro_step_res,
	.set_actual_position = fake_stepper_set_actual_position,
	.get_actual_position = fake_stepper_get_actual_position,
	.set_target_position = fake_stepper_set_target_position,
	.enable_constant_velocity_mode = fake_stepper_enable_constant_velocity_mode,
};

#define FAKE_STEPPER_INIT(inst)                                                                    \
                                                                                                   \
	static struct fake_stepper_data fake_stepper_data_##inst;                                  \
                                                                                                   \
	DEVICE_DT_INST_DEFINE(inst, fake_stepper_init, NULL, &fake_stepper_data_##inst, NULL,      \
			      POST_KERNEL, CONFIG_STEPPER_INIT_PRIORITY,                           \
			      &fake_stepper_driver_api);

DT_INST_FOREACH_STATUS_OKAY(FAKE_STEPPER_INIT)