Ryan Malloy
71e5484507
Native test suite (61 tests, 5 suites) with thin mock layer for Arduino/FreeRTOS/esp_timer enabling host-side testing without hardware. ASCOM Alpaca REST API on port 32323 with UDP discovery, implementing Telescope v3 interface for N.I.N.A., PHD2, and compatible software. Follows existing ST4WiFi conditional compilation pattern. README documents wiring, all three protocols (serial, WebSocket, Alpaca), pin/rate configuration, and build instructions.
125 lines
3.5 KiB
C++
125 lines
3.5 KiB
C++
// ST4Tracker unit tests
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#include <unity.h>
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#include "mock_state.h"
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#include "ST4Tracker.h"
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void setUp() { MockState::reset(); }
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void tearDown() {}
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void test_initial_position_zero() {
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ST4Tracker tracker;
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tracker.begin();
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TEST_ASSERT_DOUBLE_WITHIN(1e-9, 0.0, tracker.position());
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}
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void test_position_accumulation() {
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ST4Tracker tracker;
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tracker.begin();
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double rate = 2.5;
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tracker.start(rate);
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// Advance 1 second
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MockState::advanceTime(1000000);
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double pos = tracker.position();
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TEST_ASSERT_DOUBLE_WITHIN(1e-6, 2.5, pos);
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}
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void test_stop_freezes_position() {
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ST4Tracker tracker;
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tracker.begin();
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tracker.start(3.0);
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MockState::advanceTime(1000000); // 1 second -> pos = 3.0
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tracker.stop();
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double posAtStop = tracker.position();
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// Advance more time -- position should not change
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MockState::advanceTime(5000000);
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double posLater = tracker.position();
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TEST_ASSERT_DOUBLE_WITHIN(1e-9, posAtStop, posLater);
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TEST_ASSERT_DOUBLE_WITHIN(1e-6, 3.0, posLater);
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}
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void test_set_position() {
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ST4Tracker tracker;
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tracker.begin();
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tracker.setPosition(42.0);
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TEST_ASSERT_DOUBLE_WITHIN(1e-9, 42.0, tracker.position());
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}
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void test_direction_sign_positive() {
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ST4Tracker tracker;
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tracker.begin();
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tracker.start(1.0);
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MockState::advanceTime(1000000);
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TEST_ASSERT_TRUE(tracker.position() > 0.0);
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}
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void test_direction_sign_negative() {
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ST4Tracker tracker;
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tracker.begin();
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tracker.start(-1.0);
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MockState::advanceTime(1000000);
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TEST_ASSERT_TRUE(tracker.position() < 0.0);
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}
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void test_slew_rate_while_moving() {
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ST4Tracker tracker;
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tracker.begin();
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tracker.start(5.0);
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TEST_ASSERT_DOUBLE_WITHIN(1e-9, 5.0, tracker.slewRate());
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}
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void test_slew_rate_after_stop() {
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ST4Tracker tracker;
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tracker.begin();
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tracker.start(5.0);
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tracker.stop();
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TEST_ASSERT_DOUBLE_WITHIN(1e-9, 0.0, tracker.slewRate());
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}
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void test_is_moving() {
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ST4Tracker tracker;
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tracker.begin();
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TEST_ASSERT_FALSE(tracker.isMoving());
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tracker.start(1.0);
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TEST_ASSERT_TRUE(tracker.isMoving());
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tracker.stop();
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TEST_ASSERT_FALSE(tracker.isMoving());
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}
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void test_rate_change_accumulates() {
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ST4Tracker tracker;
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tracker.begin();
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tracker.start(2.0);
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MockState::advanceTime(1000000); // 1s at rate 2.0 -> 2.0
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tracker.start(4.0); // changes rate, accumulates previous delta
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MockState::advanceTime(1000000); // 1s at rate 4.0 -> +4.0
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tracker.stop();
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double pos = tracker.position();
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TEST_ASSERT_DOUBLE_WITHIN(1e-6, 6.0, pos);
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}
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void test_set_position_stops_movement() {
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ST4Tracker tracker;
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tracker.begin();
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tracker.start(1.0);
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MockState::advanceTime(1000000);
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tracker.setPosition(100.0);
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TEST_ASSERT_FALSE(tracker.isMoving());
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TEST_ASSERT_DOUBLE_WITHIN(1e-9, 100.0, tracker.position());
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}
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int main() {
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UNITY_BEGIN();
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RUN_TEST(test_initial_position_zero);
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RUN_TEST(test_position_accumulation);
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RUN_TEST(test_stop_freezes_position);
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RUN_TEST(test_set_position);
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RUN_TEST(test_direction_sign_positive);
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RUN_TEST(test_direction_sign_negative);
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RUN_TEST(test_slew_rate_while_moving);
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RUN_TEST(test_slew_rate_after_stop);
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RUN_TEST(test_is_moving);
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RUN_TEST(test_rate_change_accumulates);
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RUN_TEST(test_set_position_stops_movement);
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return UNITY_END();
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}
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