✨ added servo mock + tests

conanfile.py

@@ -25,7 +25,7 @@
 
 class libhal_mock_conan(ConanFile):
     name = "libhal-mock"
-    version = "2.0.2"
+    version = "2.1.0"
     license = "Apache-2.0"
     url = "https://github.com/conan-io/conan-center-index"
     homepage = "https://libhal.github.io/libhal-mock"

include/libhal-mock/servo.hpp

@@ -0,0 +1,47 @@
+// Copyright 2023 Google LLC
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include "testing.hpp"
+#include <libhal/servo.hpp>
+
+namespace hal::mock {
+/**
+ * @brief Mock servo implementation for use in unit tests and simulations with a
+ * spy function for position()
+ *
+ */
+struct servo : public hal::servo
+{
+  /**
+   * @brief Reset spy information for position()
+   *
+   */
+  void reset()
+  {
+    spy_position.reset();
+  }
+
+  /// Spy handler for hal::servo::position()
+  spy_handler<float> spy_position;
+
+private:
+  result<position_t> driver_position(float p_position) override
+  {
+    HAL_CHECK(spy_position.record(p_position));
+    return position_t{};
+  };
+};
+}  // namespace hal::mock

tests/CMakeLists.txt

@@ -57,6 +57,7 @@ add_executable(${PROJECT_NAME}
   steady_clock.test.cpp
   testing.test.cpp
   timer.test.cpp
+  servo.test.cpp
 )
 
 target_include_directories(${PROJECT_NAME} PUBLIC . ../include)

tests/main.test.cpp

@@ -25,6 +25,7 @@ extern void spi_mock_test();
 extern void steady_clock_mock_test();
 extern void testing_utilities_test();
 extern void timer_mock_test();
+extern void servo_mock_test();
 }  // namespace hal::mock
 
 int main()
@@ -41,4 +42,5 @@ int main()
   hal::mock::steady_clock_mock_test();
   hal::mock::testing_utilities_test();
   hal::mock::timer_mock_test();
+  hal::mock::servo_mock_test();
 }

tests/servo.test.cpp

@@ -0,0 +1,41 @@
+// Copyright 2023 Google LLC
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <libhal-mock/servo.hpp>
+#include <libhal/units.hpp>
+
+#include <boost/ut.hpp>
+
+namespace hal::mock {
+void servo_mock_test()
+{
+  using namespace boost::ut;
+
+  // Setup
+  hal::mock::servo mock;
+  constexpr auto expected1 = hal::degrees(10.0);
+  constexpr auto expected2 = hal::degrees(-10.0);
+  mock.spy_position.trigger_error_on_call(3);
+
+  // Exercise + Verify
+  expect(bool{ mock.position(expected1) });
+  expect(expected1 == std::get<0>(mock.spy_position.call_history().at(0)));
+
+  expect(bool{ mock.position(expected2) });
+  expect(expected2 == std::get<0>(mock.spy_position.call_history().at(1)));
+
+  expect(!mock.position(expected2));
+  expect(expected2 == std::get<0>(mock.spy_position.call_history().at(2)));
+};
+}  // namespace hal::mock