Added a test case for the switch module

Rakefile

@@ -119,8 +119,10 @@ if TESTING
   TESTMODULES= %w(tools/temperatureswitch) unless defined? EXCLUDE_MODULES
   puts "Modules under test: #{TESTMODULES}"
   excludes << %w(Kernel.cpp main.cpp) # we replace these with mock versions in testframework
-  testmodules= FileList['src/testframework/*.{c,cpp}', 'src/testframework/easyunit/*.{c,cpp}', 'src/modules/communication/SerialConsole.cpp', 'src/modules/communication/utils/Gcode.cpp'].include(TESTMODULES.collect { |e| "src/modules/#{e}/**/*.{c,cpp}"}).include(TESTMODULES.collect { |e| "src/testframework/unittests/#{e}/*.{c,cpp}"})
-  SRC = FileList['src/libs/**/*.{c,cpp}'].exclude(/#{excludes.join('|')}/) + testmodules
+  frameworkfiles= FileList['src/testframework/*.{c,cpp}', 'src/testframework/easyunit/*.{c,cpp}']
+  extrafiles= FileList['src/modules/communication/SerialConsole.cpp', 'src/modules/communication/utils/Gcode.cpp', 'src/modules/robot/Conveyor.cpp', 'src/modules/robot/Block.cpp']
+  testmodules= FileList['src/libs/**/*.{c,cpp}'].include(TESTMODULES.collect { |e| "src/modules/#{e}/**/*.{c,cpp}"}).include(TESTMODULES.collect { |e| "src/testframework/unittests/#{e}/*.{c,cpp}"}).exclude(/#{excludes.join('|')}/)
+  SRC =  frameworkfiles + extrafiles + testmodules
 else
   excludes << %w(testframework)
   SRC = FileList['src/**/*.{c,cpp}'].exclude(/#{excludes.join('|')}/)

src/modules/tools/switch/Switch.cpp

@@ -308,7 +308,6 @@ void Switch::on_get_public_data(void *argument)
     pad->state = this->switch_state;
     pad->value = this->switch_value;
 
-    pdr->set_data_ptr(&pad);
     pdr->set_taken();
     pdr->clear_returned_data();
 }

src/testframework/Test_kernel.cpp

@@ -40,6 +40,13 @@ This is aprt of the Smoothie test framework, it generates a Mockable Kernl so ke
 
 Kernel* Kernel::instance;
 
+
+// define some dummies here to satisfy linker
+// Conveyor::Conveyor(){ /*dummy*/ }
+// void Conveyor::wait_for_empty_queue(){ /*dummy*/ }
+//template class HeapRing<Block>;
+
+
 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
 Kernel::Kernel(){
     instance= this; // setup the Singleton instance of the kernel
@@ -57,6 +64,11 @@ Kernel::Kernel(){
 
     this->current_path   = "/";
 
+    this->slow_ticker = new SlowTicker();
+
+    // dummies (woul dbe noce to refactor to not have to create a conveyor)
+    this->conveyor= new Conveyor();
+
     // Configure UART depending on MRI config
     // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
     NVIC_SetPriorityGrouping(0);

src/testframework/unittests/tools/switch/TEST_Switch.cpp

@@ -0,0 +1,90 @@
+#include "Kernel.h"
+#include "checksumm.h"
+#include "utils.h"
+#include "Test_kernel.h"
+#include "PublicDataRequest.h"
+#include "PublicData.h"
+#include "SwitchPublicAccess.h"
+#include "Gcode.h"
+#include "Switch.h"
+#include "mri.h"
+
+#include <stdio.h>
+#include <memory>
+
+#include "easyunit/test.h"
+
+// this declares any global variables the test needs
+DECLARE(Switch)
+  Switch *ts;
+  uint16_t switch_id;
+END_DECLARE
+
+// called before each test
+SETUP(Switch)
+{
+    // create the module we want to test
+    switch_id= get_checksum("fan");
+    ts = new Switch(switch_id);
+    //printf("...Setup Switch\n");
+}
+
+// called after each test
+TEARDOWN(Switch)
+{
+    // delete the module
+    delete ts;
+
+    // have kernel reset to a clean state
+    test_kernel_teardown();
+
+    //printf("...Teardown Switch\n");
+}
+
+// define various configs here, these are in the same formate they would appeat in the config file (comments removed for clarity)
+const static char switch_config[]= "\
+switch.fan.enable true \n\
+switch.fan.input_on_command M106 \n\
+switch.fan.input_off_command M107 \n\
+switch.fan.output_pin 2.6  \n\
+switch.fan.output_type digital  \n\
+";
+
+static bool get_switch_state(Switch *ts, struct pad_switch& s)
+{
+    // inquire if the switch is on or off (simulate an ON_GET_PUBLIC_DATA)
+    PublicDataRequest pdr(switch_checksum, fan_checksum, 0);
+    pdr.set_data_ptr(&s); // the caller may have put a placeholder for the returned data here
+    ts->on_get_public_data(&pdr);
+    return(pdr.is_taken() && !pdr.has_returned_data());
+}
+
+TESTF(Switch,set_on_off_with_gcode)
+{
+    // load config with required settings for this test
+    test_kernel_setup_config(switch_config, &switch_config[sizeof(switch_config)]);
+
+    // make module load the config
+    ts->on_config_reload(nullptr);
+
+    // make sure switch starts off
+    struct pad_switch s;
+    ASSERT_TRUE(get_switch_state(ts, s));
+    ASSERT_EQUALS(s.name, switch_id);
+    ASSERT_TRUE(!s.state);
+
+    // if we want to enter the debugger here
+    //__debugbreak();
+
+    // now turn it on
+    Gcode gc1("M106", (StreamOutput *)THEKERNEL->serial);
+    ts->on_gcode_received(&gc1);
+    ASSERT_TRUE(get_switch_state(ts, s));
+    ASSERT_TRUE(s.state);
+
+    // now turn it off
+    Gcode gc2("M107", (StreamOutput *)THEKERNEL->serial);
+    ts->on_gcode_received(&gc2);
+    ASSERT_TRUE(get_switch_state(ts, s));
+    ASSERT_TRUE(!s.state);
+}