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extras/tests/pc_based/test_01.cpp

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+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FastAccelStepper.h"
+#include "StepperISR.h"
+
+char TCCR1A;
+char TCCR1B;
+char TCCR1C;
+char TIMSK1;
+char TIFR1;
+unsigned short OCR1A;
+unsigned short OCR1B;
+
+StepperQueue fas_queue[NUM_QUEUES];
+
+void inject_fill_interrupt(int mark) {}
+void noInterrupts() {}
+void interrupts() {}
+
+void init_queue() {
+  fas_queue[0].read_idx = 0;
+  fas_queue[0].next_write_idx = 0;
+  fas_queue[1].read_idx = 0;
+  fas_queue[1].next_write_idx = 0;
+}
+
+void basic_test() {
+  puts("basic_test...");
+  init_queue();
+  FastAccelStepper s = FastAccelStepper();
+  assert(0 == s.getCurrentPosition());
+  assert(s.isQueueEmpty());
+  assert(s.isQueueEmpty());
+  struct stepper_command_s cmd = {
+      .ticks = 10000, .steps = 100, .count_up = true};
+  int res = s.addQueueEntry(&cmd);
+  assert(res == AQE_OK);
+  assert(!s.isQueueEmpty());
+}
+
+void queue_full() {
+  puts("queue_full...");
+  init_queue();
+  FastAccelStepper s = FastAccelStepper();
+  s.init(NULL, 0, 0);
+  assert(0 == s.getCurrentPosition());
+  assert(s.isQueueEmpty());
+  assert(s.isQueueEmpty());
+  printf("Queue read/write = %d/%d\n", fas_queue[0].read_idx,
+         fas_queue[0].next_write_idx);
+  struct stepper_command_s cmd = {
+      .ticks = 10000, .steps = 100, .count_up = true};
+  for (int i = 0; i < QUEUE_LEN - 1; i++) {
+    s.addQueueEntry(&cmd);
+    assert(!s.isQueueEmpty());
+    assert(!s.isQueueFull());
+    printf("Queue read/write = %d/%d\n", fas_queue[0].read_idx,
+           fas_queue[0].next_write_idx);
+  }
+  s.addQueueEntry(&cmd);
+  printf("Queue read/write = %d/%d\n", fas_queue[0].read_idx,
+         fas_queue[0].next_write_idx);
+  assert(!s.isQueueEmpty());
+  assert(s.isQueueFull());
+  puts("...done");
+}
+
+void queue_out_of_range() {
+  int8_t res;
+
+  puts("queue_out_of_range...");
+  init_queue();
+  FastAccelStepper s = FastAccelStepper();
+  s.init(NULL, 0, 0);
+  assert(s.isQueueEmpty());
+  assert(0 == s.getCurrentPosition());
+  assert(s.isQueueEmpty());
+  assert(s.isQueueEmpty());
+
+  uint16_t ticks = s.getMaxSpeedInTicks();
+  ticks = ticks - 1;
+  struct stepper_command_s cmd2 = {
+      .ticks = ticks, .steps = 255, .count_up = true};
+
+  res = s.addQueueEntry(&cmd2);
+  test(res == AQE_ERROR_TICKS_TOO_LOW, "Too low ticks should trigger an error");
+  assert(s.isQueueEmpty());
+
+  struct stepper_command_s cmd3 = {
+      .ticks = MIN_CMD_TICKS - 1, .steps = 1, .count_up = true};
+
+  res = s.addQueueEntry(&cmd3);
+  test(res == AQE_ERROR_TICKS_TOO_LOW,
+       "Too short command time should trigger an error");
+  assert(s.isQueueEmpty());
+}
+
+void end_pos_test() {
+  init_queue();
+  FastAccelStepper s = FastAccelStepper();
+  s.init(NULL, 0, 0);
+  assert(0 == s.getPositionAfterCommandsCompleted());
+  struct stepper_command_s cmd = {.ticks = 65535, .steps = 1, .count_up = true};
+
+  assert(AQE_OK == s.addQueueEntry(&cmd));
+  assert(1 == s.getPositionAfterCommandsCompleted());
+}
+
+int main() {
+  // assert(sizeof(struct queue_entry) == 6);
+  basic_test();
+  queue_out_of_range();
+  queue_full();
+  end_pos_test();
+  printf("TEST_01 PASSED\n");
+}