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Move nunchuk tests to their own file
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@9names
9names committed Apr 14, 2024
1 parent 512cd6a commit e11d8a0
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Showing 2 changed files with 253 additions and 7 deletions.
9 changes: 2 additions & 7 deletions wii-ext/src/nunchuk.rs
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Expand Up @@ -9,12 +9,7 @@

use crate::core::nunchuk::{CalibrationData, NunchukReading, NunchukReadingCalibrated};
use crate::interface::Interface;
use crate::ControllerIdReport;
use crate::ControllerType;
use crate::ExtReport;
use crate::EXT_I2C_ADDR;
use crate::INTERMESSAGE_DELAY_MICROSEC_U32 as INTERMESSAGE_DELAY_MICROSEC;
use embedded_hal::delay::DelayNs;
use embedded_hal::i2c::{I2c, SevenBitAddress};

#[derive(Debug)]
Expand Down Expand Up @@ -74,8 +69,7 @@ where
}

pub fn identify_controller(&mut self) -> Result<Option<ControllerType>, Error<ERR>> {
let i2c_id = self.interface.read_id()?;
Ok(crate::common::identify_controller(i2c_id))
self.interface.identify_controller()
}

/// Read the button/axis data from the nunchuk
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mod tests {
use super::*;
use crate::test_data;
use crate::EXT_I2C_ADDR;
use embedded_hal_mock::eh1::{
delay::NoopDelay,
i2c::{self, Transaction},
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251 changes: 251 additions & 0 deletions wii-ext/tests/nunchuk.rs
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use embedded_hal_mock::eh1::{
delay::NoopDelay,
i2c::{self, Transaction},
};
use wii_ext::{nunchuk::Nunchuk, test_data, EXT_I2C_ADDR};
/// There's a certain amount of slop around the center position.
/// Allow up to this range without it being an error
const ZERO_SLOP: i8 = 5;
/// The max value at full deflection is ~100, but allow a bit less than that
const AXIS_MAX: i8 = 90;

// TODO: work out how to test analogue values from joystick and gyro

#[test]
fn nunchuck_idle() {
let expectations = vec![
// Reset controller
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
// Init
Transaction::write(EXT_I2C_ADDR as u8, vec![240, 85]),
Transaction::write(EXT_I2C_ADDR as u8, vec![251, 0]),
// Calibration read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
// Read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
];

let mut mock = i2c::Mock::new(&expectations);
let delay = NoopDelay::new();
let mut nc = Nunchuk::new(mock.clone(), delay).unwrap();
let report = nc.read_blocking().unwrap();
assert!(!report.button_c);
assert!(!report.button_z);
mock.done();
}

#[test]
fn nunchuck_idle_calibrated() {
let expectations = vec![
// Reset controller
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
// Init
Transaction::write(EXT_I2C_ADDR as u8, vec![240, 85]),
Transaction::write(EXT_I2C_ADDR as u8, vec![251, 0]),
// Calibration read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
// Read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
];
let mut mock = i2c::Mock::new(&expectations);
let delay = NoopDelay::new();
let mut nc = Nunchuk::new(mock.clone(), delay).unwrap();
let report = nc.read_blocking().unwrap();
assert!(!report.button_c);
assert!(!report.button_z);
assert_eq!(report.joystick_x, 0);
assert_eq!(report.joystick_y, 0);
mock.done();
}

#[test]
fn nunchuck_left_calibrated() {
let expectations = vec![
// Reset controller
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
// Init
Transaction::write(EXT_I2C_ADDR as u8, vec![240, 85]),
Transaction::write(EXT_I2C_ADDR as u8, vec![251, 0]),
// Calibration read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
// Read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_JOY_L.to_vec()),
];
let mut mock = i2c::Mock::new(&expectations);
let delay = NoopDelay::new();
let mut nc = Nunchuk::new(mock.clone(), delay).unwrap();
let report = nc.read_blocking().unwrap();
assert!(!report.button_c);
assert!(!report.button_z);
assert!(report.joystick_x < -AXIS_MAX, "x = {}", report.joystick_x);
assert!(report.joystick_y > -ZERO_SLOP, "y = {}", report.joystick_y);
assert!(report.joystick_y < ZERO_SLOP, "y = {}", report.joystick_y);
mock.done();
}

#[test]
fn nunchuck_right_calibrated() {
let expectations = vec![
// Reset controller
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
// Init
Transaction::write(EXT_I2C_ADDR as u8, vec![240, 85]),
Transaction::write(EXT_I2C_ADDR as u8, vec![251, 0]),
// Calibration read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
// Read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_JOY_R.to_vec()),
];
let mut mock = i2c::Mock::new(&expectations);
let delay = NoopDelay::new();
let mut nc = Nunchuk::new(mock.clone(), delay).unwrap();
let report = nc.read_blocking().unwrap();
assert!(!report.button_c);
assert!(!report.button_z);
assert!(report.joystick_x > AXIS_MAX, "x = {}", report.joystick_x);
assert!(report.joystick_y > -ZERO_SLOP, "y = {}", report.joystick_y);
assert!(report.joystick_y < ZERO_SLOP, "y = {}", report.joystick_y);
mock.done();
}

#[test]
fn nunchuck_up_calibrated() {
let expectations = vec![
// Reset controller
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
// Init
Transaction::write(EXT_I2C_ADDR as u8, vec![240, 85]),
Transaction::write(EXT_I2C_ADDR as u8, vec![251, 0]),
// Calibration read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
// Read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_JOY_U.to_vec()),
];
let mut mock = i2c::Mock::new(&expectations);
let delay = NoopDelay::new();
let mut nc = Nunchuk::new(mock.clone(), delay).unwrap();
let report = nc.read_blocking().unwrap();
assert!(!report.button_c);
assert!(!report.button_z);
assert!(report.joystick_y > AXIS_MAX, "y = {}", report.joystick_y);
assert!(report.joystick_x > -ZERO_SLOP, "x = {}", report.joystick_x);
assert!(report.joystick_x < ZERO_SLOP, "x = {}", report.joystick_x);
mock.done();
}

#[test]
fn nunchuck_down_calibrated() {
let expectations = vec![
// Reset controller
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
// Init
Transaction::write(EXT_I2C_ADDR as u8, vec![240, 85]),
Transaction::write(EXT_I2C_ADDR as u8, vec![251, 0]),
// Calibration read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
// Read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_JOY_D.to_vec()),
];
let mut mock = i2c::Mock::new(&expectations);
let delay = NoopDelay::new();
let mut nc = Nunchuk::new(mock.clone(), delay).unwrap();
let report = nc.read_blocking().unwrap();
assert!(!report.button_c);
assert!(!report.button_z);
assert!(report.joystick_y < -AXIS_MAX, "y = {}", report.joystick_y);
assert!(report.joystick_x > -ZERO_SLOP, "x = {}", report.joystick_x);
assert!(report.joystick_x < ZERO_SLOP, "x = {}", report.joystick_x);
mock.done();
}

#[test]
fn nunchuck_idle_repeat() {
let expectations = vec![
// Reset controller
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
// Init
Transaction::write(EXT_I2C_ADDR as u8, vec![240, 85]),
Transaction::write(EXT_I2C_ADDR as u8, vec![251, 0]),
// Calibration read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
// Read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
];
let mut mock = i2c::Mock::new(&expectations);
let delay = NoopDelay::new();
let mut nc = Nunchuk::new(mock.clone(), delay).unwrap();

let report = nc.read_report_blocking().unwrap();
assert!(!report.button_c);
assert!(!report.button_z);
let report = nc.read_report_blocking().unwrap();
assert!(!report.button_c);
assert!(!report.button_z);
mock.done();
}

#[test]
fn nunchuck_btn_c() {
let expectations = vec![
// Reset controller
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
// Init
Transaction::write(EXT_I2C_ADDR as u8, vec![240, 85]),
Transaction::write(EXT_I2C_ADDR as u8, vec![251, 0]),
// Calibration read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
// Read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_BTN_C.to_vec()),
];
let mut mock = i2c::Mock::new(&expectations);
let delay = NoopDelay::new();
let mut nc = Nunchuk::new(mock.clone(), delay).unwrap();

let report = nc.read_report_blocking().unwrap();
assert!(report.button_c);
assert!(!report.button_z);
mock.done();
}

#[test]
fn nunchuck_btn_z() {
let expectations = vec![
// Reset controller
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
// Init
Transaction::write(EXT_I2C_ADDR as u8, vec![240, 85]),
Transaction::write(EXT_I2C_ADDR as u8, vec![251, 0]),
// Calibration read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_IDLE.to_vec()),
// Read
Transaction::write(EXT_I2C_ADDR as u8, vec![0]),
Transaction::read(EXT_I2C_ADDR as u8, test_data::NUNCHUCK_BTN_Z.to_vec()),
];
let mut mock = i2c::Mock::new(&expectations);
let delay = NoopDelay::new();
let mut nc = Nunchuk::new(mock.clone(), delay).unwrap();

let report = nc.read_report_blocking().unwrap();
assert!(!report.button_c);
assert!(report.button_z);
mock.done();
}

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