test_PeripheralController.cpp

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#include "../mocks/MockPeripheralController.hpp"
#include "tests/mocks/MockPeripheralController.hpp"
#include <gmock/gmock.h>
#include <gtest/gtest.h>
 
using ::testing::_;
using ::testing::Return;
using ::testing::Throw;

TEST(PeripheralControllerTest, TestServoPWM) {
    MockPeripheralController mockController;
 
    EXPECT_CALL(mockController, set_servo_pwm(0, 1024, 2048)).Times(1);
    EXPECT_CALL(mockController, set_servo_pwm(1, 0, 4096)).Times(1);
 
    mockController.set_servo_pwm(0, 1024, 2048);
    mockController.set_servo_pwm(1, 0, 4096);
}

TEST(PeripheralControllerTest, TestMotorPWM) {
    MockPeripheralController mockController;
 
    EXPECT_CALL(mockController, set_motor_pwm(0, 1500)).Times(1);
    EXPECT_CALL(mockController, set_motor_pwm(1, 3000)).Times(1);
 
    mockController.set_motor_pwm(0, 1500);
    mockController.set_motor_pwm(1, 3000);
}

TEST(PeripheralControllerTest, TestInitServo) {
    MockPeripheralController mockController;
 
    EXPECT_CALL(mockController, init_servo()).Times(1);
 
    mockController.init_servo();
}

TEST(PeripheralControllerTest, TestInitMotors) {
    MockPeripheralController mockController;
 
    EXPECT_CALL(mockController, init_motors()).Times(1);
 
    mockController.init_motors();
}

TEST(PeripheralControllerTest, TestI2CWriteByteData) {
    MockPeripheralController mockController;
 
    EXPECT_CALL(mockController, i2c_smbus_write_byte_data(1, 0x10, 0x20))
            .WillOnce(Return(0));
 
    int result = mockController.i2c_smbus_write_byte_data(1, 0x10, 0x20);
 
    EXPECT_EQ(result, 0);
}

TEST(PeripheralControllerTest, TestI2CReadByteData) {
    MockPeripheralController mockController;
 
    EXPECT_CALL(mockController, i2c_smbus_read_byte_data(1, 0x10))
            .WillOnce(Return(0x30));
 
    int result = mockController.i2c_smbus_read_byte_data(1, 0x10);
 
    EXPECT_EQ(result, 0x30);
}

TEST(PeripheralControllerTest, TestWriteByteDataException) {
    MockPeripheralController mockController;
 
    EXPECT_CALL(mockController, write_byte_data(_, _, _))
            .WillOnce(Throw(std::runtime_error("I2C write failed")));
 
    EXPECT_THROW(mockController.write_byte_data(1, 0x10, 0x20),
                             std::runtime_error);
}

TEST(PeripheralControllerTest, TestReadByteDataException) {
    MockPeripheralController mockController;
 
    EXPECT_CALL(mockController, read_byte_data(_, _))
            .WillOnce(Throw(std::runtime_error("I2C read failed")));
 
    EXPECT_THROW(mockController.read_byte_data(1, 0x10), std::runtime_error);
}