From 6f36c682cd0409272b502a1ce73beced4d3773ed Mon Sep 17 00:00:00 2001
From: Astro <astro@spaceboyz.net>
Date: Thu, 19 Sep 2019 14:56:34 +0200
Subject: [PATCH] command_parser: add tests

Run with: cargo test --target=x86_64-unknown-linux-gnu
---
 firmware/src/command_parser.rs | 101 +++++++++++++++++++++++++++++++--
 firmware/src/main.rs           |   4 +-
 2 files changed, 99 insertions(+), 6 deletions(-)

diff --git a/firmware/src/command_parser.rs b/firmware/src/command_parser.rs
index b906738..989abd2 100644
--- a/firmware/src/command_parser.rs
+++ b/firmware/src/command_parser.rs
@@ -12,7 +12,7 @@ use nom::{
 use lexical_core as lexical;
 
 
-#[derive(Clone, Debug)]
+#[derive(Clone, Debug, PartialEq)]
 pub enum Error {
     Parser(ErrorKind),
     Incomplete,
@@ -60,7 +60,7 @@ impl fmt::Display for Error {
     }
 }
 
-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, PartialEq)]
 pub enum ShowCommand {
     Input,
     Reporting,
@@ -69,7 +69,7 @@ pub enum ShowCommand {
     PostFilter,
 }
 
-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, PartialEq)]
 pub enum PidParameter {
     Target,
     KP,
@@ -81,7 +81,7 @@ pub enum PidParameter {
     IntegralMax,
 }
 
-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, PartialEq)]
 pub enum PwmMode {
     Manual {
         width: u32,
@@ -90,7 +90,7 @@ pub enum PwmMode {
     Pid,
 }
 
-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, PartialEq)]
 pub enum Command {
     Quit,
     Show(ShowCommand),
@@ -294,3 +294,94 @@ impl Command {
         }
     }
 }
+
+#[cfg(test)]
+mod test {
+    use super::*;
+
+    #[test]
+    fn parse_quit() {
+        let command = Command::parse(b"quit");
+        assert_eq!(command, Ok(Command::Quit));
+    }
+
+    #[test]
+    fn parse_report() {
+        let command = Command::parse(b"report");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::Input)));
+    }
+
+    #[test]
+    fn parse_report_mode() {
+        let command = Command::parse(b"report mode");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::Reporting)));
+    }
+
+    #[test]
+    fn parse_report_mode_on() {
+        let command = Command::parse(b"report mode on");
+        assert_eq!(command, Ok(Command::Reporting(true)));
+    }
+
+    #[test]
+    fn parse_report_mode_off() {
+        let command = Command::parse(b"report mode off");
+        assert_eq!(command, Ok(Command::Reporting(false)));
+    }
+
+    #[test]
+    fn parse_pwm_manual() {
+        let command = Command::parse(b"pwm 1 16383 65535");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 1,
+            mode: PwmMode::Manual {
+                width: 16383,
+                total: 65535,
+            },
+        }));
+    }
+
+    #[test]
+    fn parse_pwm_pid() {
+        let command = Command::parse(b"pwm 0 pid");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 0,
+            mode: PwmMode::Pid,
+        }));
+    }
+
+    #[test]
+    fn parse_pid() {
+        let command = Command::parse(b"pid");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::Pid)));
+    }
+
+    #[test]
+    fn parse_pid_target() {
+        let command = Command::parse(b"pid 0 target 36.5");
+        assert_eq!(command, Ok(Command::Pid {
+            channel: 0,
+            parameter: PidParameter::Target,
+            value: 36.5,
+        }));
+    }
+
+    #[test]
+    fn parse_pid_integral_max() {
+        let command = Command::parse(b"pid 1 integral_max 2000");
+        assert_eq!(command, Ok(Command::Pid {
+            channel: 1,
+            parameter: PidParameter::IntegralMax,
+            value: 2000.0,
+        }));
+    }
+
+    #[test]
+    fn parse_postfilter_rate() {
+        let command = Command::parse(b"postfilter 0 rate 21");
+        assert_eq!(command, Ok(Command::PostFilter {
+            channel: 0,
+            rate: 21.0,
+        }));
+    }
+}
diff --git a/firmware/src/main.rs b/firmware/src/main.rs
index 0c13cb1..f4b5ab9 100644
--- a/firmware/src/main.rs
+++ b/firmware/src/main.rs
@@ -1,6 +1,6 @@
 #![feature(const_fn, proc_macro_hygiene)]
 #![no_std]
-#![no_main]
+#![cfg_attr(not(test), no_main)]
 
 use cortex_m_rt::entry;
 use core::fmt::{self, Write};
@@ -24,6 +24,7 @@ macro_rules! println {
     ($fmt:expr, $($arg:tt)*) => (print!(concat!($fmt, "\n"), $($arg)*));
 }
 
+#[cfg(not(test))]
 #[no_mangle] // https://github.com/rust-lang/rust/issues/{38281,51647}
 #[panic_handler]
 pub fn panic_fmt(info: &core::panic::PanicInfo) -> ! {
@@ -97,6 +98,7 @@ struct ControlState {
     pid: pid::Controller,
 }
 
+#[cfg(not(test))]
 #[entry]
 fn main() -> ! {
     let mut stdout = hio::hstdout().unwrap();