From 7053755b0e14772c332604fcc360e39b95b2ac5c Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Sat, 22 Oct 2022 17:21:08 +0200
Subject: [PATCH] motion: Add tests for unscheduled moves in AbortPlannedMoves

This catches the previously untested #228
---
 tests/unit/modules/motion/test_motion.cpp | 31 +++++++++++++++++++++++
 1 file changed, 31 insertions(+)

diff --git a/tests/unit/modules/motion/test_motion.cpp b/tests/unit/modules/motion/test_motion.cpp
index 7bbae19..25d1005 100644
--- a/tests/unit/modules/motion/test_motion.cpp
+++ b/tests/unit/modules/motion/test_motion.cpp
@@ -271,6 +271,37 @@ TEST_CASE("motion::queue_abort_1", "[motion]") {
     REQUIRE(!motion.QueueEmpty());
 }
 
+TEST_CASE("motion::queue_abort_2", "[motion]") {
+    // queue should start empty
+    ResetMotionSim();
+
+    // enqueue two moves on a single axis
+    motion.PlanMoveTo(Pulley, 10, 1);
+    motion.PlanMoveTo(Pulley, 20, 1);
+    REQUIRE(!motion.QueueEmpty(Pulley));
+
+    // abort before scheduling and check that both are gone
+    motion.AbortPlannedMoves(Pulley);
+    REQUIRE(motion.QueueEmpty(Pulley));
+}
+
+TEST_CASE("motion::queue_abort_3", "[motion]") {
+    // queue should start empty
+    ResetMotionSim();
+
+    // enqueue two moves on a single axis
+    motion.PlanMoveTo(Pulley, 10, 1);
+    motion.PlanMoveTo(Pulley, 20, 1);
+    REQUIRE(!motion.QueueEmpty(Pulley));
+
+    // step ~1/3 way through of the first move
+    REQUIRE(stepUntilDone(3) == -1);
+
+    // abort the partial and unscheduled move
+    motion.AbortPlannedMoves(Pulley);
+    REQUIRE(motion.QueueEmpty(Pulley));
+}
+
 TEST_CASE("motion::long_pulley_move", "[motion]") {
     ResetMotionSim();
     constexpr auto mm400 = 400._mm;