From 9a93ebecfc79770b15afb64c0e47bf0fd996009e Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Tue, 24 Aug 2021 17:01:45 +0200
Subject: [PATCH] Motion: add tests for the axis autoenable

Add Motion::Enabled() to get the current axis enablement status.
---
 src/modules/motion.h                      |  3 +++
 tests/unit/modules/motion/test_motion.cpp | 18 ++++++++++++++++++
 2 files changed, 21 insertions(+)

diff --git a/src/modules/motion.h b/src/modules/motion.h
index e79636a..c7ec569 100644
--- a/src/modules/motion.h
+++ b/src/modules/motion.h
@@ -77,6 +77,9 @@ public:
     /// @returns true if the init was successful (TMC2130 responded ok)
     bool InitAxis(Axis axis);
 
+    /// Return the axis power status.
+    bool Enabled(Axis axis) const { return axisData[axis].enabled; }
+
     /// Set axis power status. One must manually ensure no moves are currently being
     /// performed by calling QueueEmpty().
     void SetEnabled(Axis axis, bool enabled);
diff --git a/tests/unit/modules/motion/test_motion.cpp b/tests/unit/modules/motion/test_motion.cpp
index ece685f..788644c 100644
--- a/tests/unit/modules/motion/test_motion.cpp
+++ b/tests/unit/modules/motion/test_motion.cpp
@@ -31,6 +31,24 @@ TEST_CASE("motion::basic", "[motion]") {
     REQUIRE(motion.Position(Idler) == 10);
 }
 
+TEST_CASE("motion::auto_axis_enable", "[motion]") {
+    // by default the axis should start disabled
+    REQUIRE(motion.Enabled(Pulley) == false);
+
+    // enable manually the axis
+    motion.SetEnabled(Pulley, true);
+    REQUIRE(motion.Enabled(Pulley) == true);
+
+    // now disable
+    motion.SetEnabled(Pulley, false);
+    REQUIRE(motion.Enabled(Pulley) == false);
+
+    // planning a move should enable the axis automatically
+    REQUIRE(motion.QueueEmpty());
+    motion.PlanMove<Pulley>(1.0_mm, 100.0_mm_s);
+    REQUIRE(motion.Enabled(Pulley) == true);
+}
+
 TEST_CASE("motion::unit", "[motion]") {
     // test AxisUnit conversion in the PlanMove and PlanMoveTo.
     REQUIRE(motion.QueueEmpty());