Add tests for single and multi-axis AbortPlannedMoves()

This introduces a new #define UNITTEST_MOTION which is used to control
the testing scenario:

- Normal tests, we allow the stub to override the built-in definition.
- For motion tests, we stub the lower-level classes and test the
  effective implementation

We also repeat the prototype of the function, which IMHO is more
readable and more flexible: we need to use inline for the real
definition, which would require even more macros otherwise.

src/modules/motion.h

@@ -239,13 +239,13 @@ public:
 
     /// @returns true if all planned moves have been finished for one axis
     /// @param axis requested
-    bool QueueEmpty(Axis axis) const
-#ifndef UNITTEST
-    {
+#if !defined(UNITTEST) || defined(UNITTEST_MOTION)
+    bool QueueEmpty(Axis axis) const {
         return axisData[axis].ctrl.QueueEmpty();
     }
 #else
-        ;
+    // Force STUB for testing
+    bool QueueEmpty(Axis axis) const;
 #endif
 
     /// @returns false if new moves can still be planned for one axis

tests/unit/modules/motion/CMakeLists.txt

@@ -1,4 +1,5 @@
 # common include and source directories
+add_compile_definitions(UNITTEST_MOTION)
 set(include_common ${CMAKE_SOURCE_DIR}/src/modules ${CMAKE_SOURCE_DIR}/src/hal)
 set(source_common
     ${CMAKE_SOURCE_DIR}/src/modules/motion.cpp

tests/unit/modules/motion/test_motion.cpp

@@ -205,3 +205,47 @@ TEST_CASE("motion::triple_move", "[motion]") {
     REQUIRE(motion.Position(Selector) == 20);
     REQUIRE(motion.Position(Pulley) == 30);
 }
+
+TEST_CASE("motion::queue_abort", "[motion]") {
+    // queue should start empty
+    REQUIRE(motion.QueueEmpty());
+
+    // enqueue two moves
+    motion.PlanMoveTo(Pulley, 10, 1);
+    motion.PlanMoveTo(Idler, 10, 1);
+    REQUIRE(!motion.QueueEmpty(Pulley));
+    REQUIRE(!motion.QueueEmpty(Idler));
+    REQUIRE(motion.QueueEmpty(Selector));
+    REQUIRE(!motion.QueueEmpty());
+
+    // step ~1/3 way through
+    REQUIRE(stepUntilDone(3) == -1);
+
+    // abort the whole queue
+    motion.AbortPlannedMoves();
+    REQUIRE(motion.QueueEmpty(Pulley));
+    REQUIRE(motion.QueueEmpty(Idler));
+    REQUIRE(motion.QueueEmpty());
+}
+
+TEST_CASE("motion::queue_abort_1", "[motion]") {
+    // queue should start empty
+    REQUIRE(motion.QueueEmpty());
+
+    // enqueue two moves
+    motion.PlanMoveTo(Pulley, 10, 1);
+    motion.PlanMoveTo(Idler, 10, 1);
+    REQUIRE(!motion.QueueEmpty(Pulley));
+    REQUIRE(!motion.QueueEmpty(Idler));
+    REQUIRE(motion.QueueEmpty(Selector));
+    REQUIRE(!motion.QueueEmpty());
+
+    // step ~1/3 way through
+    REQUIRE(stepUntilDone(3) == -1);
+
+    // abort one axis only
+    motion.AbortPlannedMoves(Pulley);
+    REQUIRE(motion.QueueEmpty(Pulley));
+    REQUIRE(!motion.QueueEmpty(Idler));
+    REQUIRE(!motion.QueueEmpty());
+}