update UT

leka · Feb 19, 2024 · 1efdbb9 · 1efdbb9
1 parent 4796bd3
commit 1efdbb9
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Showing 2 changed files with 54 additions and 2 deletions.
diff --git a/drivers/CoreIMU/source/CoreIMU.cpp b/drivers/CoreIMU/source/CoreIMU.cpp
@@ -137,7 +137,7 @@ void CoreIMU::registerOnWakeUpCallback(std::function<void()> const &callback)
 		lsm6dsox_all_sources_t all_source;
 		lsm6dsox_all_sources_get(&_register_io_function, &all_source);
 
-		if (all_source.sleep_change && all_source.sleep_state == 0) {
+		if (all_source.sleep_change && all_source.sleep_state == 0 && _on_wake_up_callback != nullptr) {
 			_on_wake_up_callback();
 		}
 	};
@@ -218,6 +218,8 @@ void CoreIMU::setInterruptCallback(std::function<void()> const &callback)
 {
 	if (callback != nullptr) {
 		_irq.onRise(callback);
+	} else {
+		_irq.onRise({});
 	}
 }
 

diff --git a/drivers/CoreIMU/tests/CoreIMU_test.cpp b/drivers/CoreIMU/tests/CoreIMU_test.cpp
@@ -13,6 +13,7 @@
 using namespace leka;
 
 using testing::_;
+using testing::AnyNumber;
 using testing::AtLeast;
 using testing::MockFunction;
 
@@ -109,7 +110,7 @@ TEST_F(CoreIMUTest, onWakeUpCallback)
 
 	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
 	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
-	// EXPECT_CALL(mock_callback, Call).Times(1); // TODO: Should setup struct
+	EXPECT_CALL(mock_callback, Call).Times(AnyNumber());
 
 	coreimu.registerOnWakeUpCallback(mock_callback.AsStdFunction());
 
@@ -140,3 +141,52 @@ TEST_F(CoreIMUTest, disableOnWakeUpInterrupt)
 
 	coreimu.disableOnWakeUpInterrupt();
 }
+
+TEST_F(CoreIMUTest, switchCallbacks)
+{
+	auto mock_data_available_callback = MockFunction<void(const leka::interface::IMU::SensorData &data)> {};
+	auto mock_wake_up_callback		  = MockFunction<void()> {};
+	auto on_rise_callback			  = mbed::Callback<void()> {};
+
+	EXPECT_CALL(mocki2c, write).Times(AnyNumber());
+	EXPECT_CALL(mocki2c, read).Times(AnyNumber());
+
+	coreimu.registerOnDataAvailableCallback(mock_data_available_callback.AsStdFunction());
+	coreimu.registerOnWakeUpCallback(mock_wake_up_callback.AsStdFunction());
+
+	{
+		// Enable Data Available
+		EXPECT_CALL(mock_data_available_callback, Call).Times(1);
+		EXPECT_CALL(mock_wake_up_callback, Call).Times(0);
+		coreimu.enableOnDataAvailable();
+		on_rise_callback = spy_InterruptIn_getRiseCallback();
+		on_rise_callback();
+	}
+
+	{
+		// Enable Wake Up
+		EXPECT_CALL(mock_data_available_callback, Call).Times(0);
+		EXPECT_CALL(mock_wake_up_callback, Call).Times(AnyNumber());
+		coreimu.enableOnWakeUpInterrupt();
+		on_rise_callback = spy_InterruptIn_getRiseCallback();
+		on_rise_callback();
+	}
+
+	{
+		// Enable Data Available
+		EXPECT_CALL(mock_data_available_callback, Call).Times(1);
+		EXPECT_CALL(mock_wake_up_callback, Call).Times(0);
+		coreimu.enableOnDataAvailable();
+		on_rise_callback = spy_InterruptIn_getRiseCallback();
+		on_rise_callback();
+	}
+
+	{
+		// Disable Data Available
+		EXPECT_CALL(mock_data_available_callback, Call).Times(0);
+		EXPECT_CALL(mock_wake_up_callback, Call).Times(0);
+		coreimu.disableOnDataAvailable();
+		on_rise_callback = spy_InterruptIn_getRiseCallback();
+		on_rise_callback();
+	}
+}