[FW-98] PWM Tests

Src/HALALMock/Services/PWM/DualPWM/DualPWM.cpp

@@ -81,11 +81,9 @@ float DualPWM::get_duty_cycle()const{
 }
 void DualPWM::set_dead_time(std::chrono::nanoseconds dead_time_ns)
 {
-	*(this->dead_time_ns)=dead_time_ns;
-	if(*positive_is_on || *negative_is_on){
+	if(*positive_is_on || *negative_is_on)
 		ErrorHandler("%s","This function can not be called if the PWM is on");
-	}
-	return;
-
+	else
+		*(this->dead_time_ns)=dead_time_ns;
 }
 

Src/HALALMock/Services/PWM/PWM/PWM.cpp

@@ -50,12 +50,8 @@ float PWM::get_duty_cycle(){
 }
 void PWM::set_dead_time(std::chrono::nanoseconds dead_t_ns)
 {
-	*dead_time_ns=dead_t_ns;
-	if(*is_on){
+	if(*is_on)
 		ErrorHandler("%s","This function can not be called if the PWM is on");
-	}
-	/*
-		Code that creates a dead time in the mock where duty_cycle is 0
-	*/
-	return;
+	else
+		*dead_time_ns=dead_t_ns;	
 }

Tests/CMakeLists.txt

@@ -11,6 +11,7 @@ add_executable(${STLIB_TEST_EXECUTABLE}
     ${CMAKE_CURRENT_LIST_DIR}/Time/test_time.cpp
     ${CMAKE_CURRENT_LIST_DIR}/EncoderTest.cpp
     ${CMAKE_CURRENT_LIST_DIR}/InputCaptureTest.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/PWMTest.cpp
 )
 
 set_target_properties(${STLIB_TEST_EXECUTABLE} PROPERTIES CXX_STANDARD 20 CXX_STANDARD_REQUIRED C_STANDARD 11 C_STANDARD_REQUIRED)

Tests/PWMTest.cpp

@@ -0,0 +1,107 @@
+#include <gtest/gtest.h>
+#include "HALALMock/Services/PWM/PWM/PWM.hpp"
+#include "HALALMock/Services/SharedMemory/SharedMemory.hpp"
+
+TEST(PWM, Turn_on){
+
+    SharedMemory::start("GPIO_Name", "State_Machine_Name");
+
+    PWM pwm(PA0);
+
+    pwm.turn_on();
+
+    EmulatedPin& pwm_pin = SharedMemory::get_pin(PA0);
+
+    EXPECT_EQ(pwm_pin.PinData.pwm.is_on, true);
+
+    SharedMemory::close();
+}
+
+TEST(PWM, Turn_off){
+
+    SharedMemory::start("GPIO_Name", "State_Machine_Name");
+
+    PWM pwm(PA0);
+
+    pwm.turn_on();
+    pwm.turn_off();
+
+    EmulatedPin& pwm_pin = SharedMemory::get_pin(PA0);
+
+    EXPECT_EQ(pwm_pin.PinData.pwm.is_on, false);
+
+    SharedMemory::close();
+}
+
+TEST(PWM, Duty_cycle){
+
+    SharedMemory::start("GPIO_Name", "State_Machine_Name");
+
+    PWM pwm(PA0);
+
+    pwm.turn_on();
+    pwm.set_duty_cycle(50);
+    float duty=pwm.get_duty_cycle();
+
+    EmulatedPin& pwm_pin = SharedMemory::get_pin(PA0);
+
+    EXPECT_EQ(pwm_pin.PinData.pwm.is_on, true);
+    EXPECT_EQ(pwm_pin.PinData.pwm.duty_cycle, 50);
+    EXPECT_EQ(duty, 50);
+
+    SharedMemory::close();
+}
+
+TEST(PWM, Frequency){
+
+    SharedMemory::start("GPIO_Name", "State_Machine_Name");
+
+    PWM pwm(PA0);
+
+    pwm.turn_on();
+    pwm.set_frequency(10000);
+    uint32_t freq=pwm.get_frequency();
+
+    EmulatedPin& pwm_pin = SharedMemory::get_pin(PA0);
+
+    EXPECT_EQ(pwm_pin.PinData.pwm.is_on, true);
+    EXPECT_EQ(pwm_pin.PinData.pwm.frequency, 10000);
+    EXPECT_EQ(freq, 10000);
+
+    SharedMemory::close();
+}
+
+TEST(PWM, Deadtime_while_on){
+
+    SharedMemory::start("GPIO_Name", "State_Machine_Name");
+
+    PWM pwm(PA0);
+
+    pwm.turn_on();
+    pwm.set_dead_time(std::chrono::nanoseconds(1000000));
+
+    EmulatedPin& pwm_pin = SharedMemory::get_pin(PA0);
+
+    EXPECT_EQ(pwm_pin.PinData.pwm.is_on, true);
+    EXPECT_EQ(pwm_pin.PinData.pwm.dead_time_ns, std::chrono::nanoseconds(0));
+
+    SharedMemory::close();
+}
+
+TEST(PWM, Deadtime_while_off){
+
+    SharedMemory::start("GPIO_Name", "State_Machine_Name");
+
+    PWM pwm(PA0);
+
+    pwm.turn_on();
+    pwm.turn_off();
+    pwm.set_dead_time(std::chrono::nanoseconds(1000000));
+
+    EmulatedPin& pwm_pin = SharedMemory::get_pin(PA0);
+
+    EXPECT_EQ(pwm_pin.PinData.pwm.is_on, false);
+    EXPECT_EQ(pwm_pin.PinData.pwm.dead_time_ns, std::chrono::nanoseconds(1000000));
+
+    SharedMemory::close();
+}