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Userland app for servomotor #558

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Userland app for servomotor #558

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bebb509
servomotor api
inesmaria08 Sep 17, 2024
b1ee8c3
Merge branch 'tock:master' into servomotor_test
inesmaria08 Sep 17, 2024
e8c1896
adding comments
inesmaria08 Sep 19, 2024
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comments update
inesmaria08 Sep 20, 2024
2543b65
comments update
inesmaria08 Sep 20, 2024
e0e332d
update
inesmaria08 Sep 20, 2024
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comments update
inesmaria08 Sep 20, 2024
c3c884c
update
inesmaria08 Sep 20, 2024
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update
inesmaria08 Sep 20, 2024
372e94b
unittests addition
inesmaria08 Sep 24, 2024
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comments update
inesmaria08 Sep 25, 2024
a208bcc
function that returns the number of servomotors available
inesmaria08 Sep 25, 2024
5ebe3e8
update
inesmaria08 Sep 26, 2024
561323b
replacing constants name with command id number for fake tests
inesmaria08 Oct 8, 2024
c49c305
replacing command id number with constants
inesmaria08 Oct 9, 2024
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update
inesmaria08 Oct 10, 2024
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inesmaria08 Oct 15, 2024
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8 changes: 4 additions & 4 deletions unittest/src/fake/servo/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ mod tests;
const DRIVER_NUM: u32 = 0x90009;

// Command numbers
const EXISTS: u32 = 0;
const SERVO_COUNT: u32 = 1;
const SET_ANGLE: u32 = 2;
const GET_ANGLE: u32 = 3;
// const EXISTS: u32 = 0;
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// const SERVO_COUNT: u32 = 1;
// const SET_ANGLE: u32 = 2;
// const GET_ANGLE: u32 = 3;
25 changes: 11 additions & 14 deletions unittest/src/fake/servo/tests.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,18 +7,15 @@ use libtock_platform::CommandReturn;
fn command() {
use fake::SyscallDriver;
let servo = Servo::<1>::new();
let value = servo.command(EXISTS, 0, 0);
let value = servo.command(0, 0, 0);
assert_eq!(CommandReturn::is_success(&value), true);
assert_eq!(
CommandReturn::get_success_u32(&servo.command(SERVO_COUNT, 0, 0)),
CommandReturn::get_success_u32(&servo.command(1, 0, 0)),
Some(1)
);
assert_eq!(CommandReturn::is_success(&servo.command(2, 0, 90)), true);
assert_eq!(
CommandReturn::is_success(&servo.command(SET_ANGLE, 0, 90)),
true
);
assert_eq!(
CommandReturn::get_success_u32(&servo.command(GET_ANGLE, 0, 0)),
CommandReturn::get_success_u32(&servo.command(3, 0, 0)),
Some(90)
);
}
Expand All @@ -29,27 +26,27 @@ fn kernel_integration() {
let kernel = fake::Kernel::new();
let servo = Servo::<1>::new();
kernel.add_driver(&servo);
let value = fake::Syscalls::command(DRIVER_NUM, EXISTS, 0, 0);
let value = fake::Syscalls::command(DRIVER_NUM, 0, 0, 0);
assert_eq!(CommandReturn::is_success(&value), true);
assert_eq!(
CommandReturn::get_success_u32(&fake::Syscalls::command(DRIVER_NUM, SERVO_COUNT, 0, 0)),
CommandReturn::get_success_u32(&fake::Syscalls::command(DRIVER_NUM, 1, 0, 0)),
Some(1)
);
assert_eq!(
fake::Syscalls::command(DRIVER_NUM, SET_ANGLE, 1, 90).get_failure(),
fake::Syscalls::command(DRIVER_NUM, 2, 1, 90).get_failure(),
Some(ErrorCode::NoDevice)
);
assert_eq!(
fake::Syscalls::command(DRIVER_NUM, SET_ANGLE, 0, 181).get_failure(),
fake::Syscalls::command(DRIVER_NUM, 2, 0, 181).get_failure(),
Some(ErrorCode::Fail)
);
assert!(fake::Syscalls::command(DRIVER_NUM, SET_ANGLE, 0, 90).is_success());
assert!(fake::Syscalls::command(DRIVER_NUM, 2, 0, 90).is_success());
assert_eq!(
fake::Syscalls::command(DRIVER_NUM, GET_ANGLE, 0, 0).get_success_u32(),
fake::Syscalls::command(DRIVER_NUM, 3, 0, 0).get_success_u32(),
Some(90)
);
assert_eq!(
fake::Syscalls::command(DRIVER_NUM, GET_ANGLE, 2, 0).get_failure(),
fake::Syscalls::command(DRIVER_NUM, 3, 2, 0).get_failure(),
Some(ErrorCode::NoDevice)
);
}