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motion: Test for underflow as well

pull/161/head
Yuri D'Elia 2022-05-11 08:08:22 +02:00 committed by DRracer
parent 3fbdf8bb2b
commit f1d938b57f
1 changed files with 19 additions and 4 deletions
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23
tests/unit/modules/motion/test_motion.cpp
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@ -287,7 +287,7 @@ TEST_CASE("motion::pos_overflow", "[motion]") {
mm::motion.SetPosition(mm::Pulley, pos_max); mm::motion.SetPosition(mm::Pulley, pos_max);
REQUIRE(mm::motion.Position(mm::Pulley) == pos_max); REQUIRE(mm::motion.Position(mm::Pulley) == pos_max);
// plan a move which will overflow // plan a move that will overflow
mm::pos_t steps = 10; mm::pos_t steps = 10;
mm::motion.PlanMove(mm::Pulley, steps, 1); mm::motion.PlanMove(mm::Pulley, steps, 1);
@ -297,8 +297,23 @@ TEST_CASE("motion::pos_overflow", "[motion]") {
// step once to setup current_block // step once to setup current_block
mm::motion.Step(); mm::motion.Step();
// ensure the move direction and step count is correct despite the overflow // ensure the move direction and step count is correct despite the overflow - abuse
// abuse CurBlockShift to get both, accounting for the useless single step // CurBlockShift to get both, accounting for the useless single step we performed just above
// we performed just above.
REQUIRE(mm::motion.CtrlForAxis(mm::Pulley).CurBlockShift() == steps - 1); REQUIRE(mm::motion.CtrlForAxis(mm::Pulley).CurBlockShift() == steps - 1);
} }
TEST_CASE("motion::pos_underflow", "[motion]") {
ResetMotionSim();
mm::pos_t pos_min = std::numeric_limits<mm::pos_t>::min();
mm::motion.SetPosition(mm::Pulley, pos_min);
REQUIRE(mm::motion.Position(mm::Pulley) == pos_min);
mm::pos_t steps = 10;
mm::motion.PlanMove(mm::Pulley, -steps, 1);
REQUIRE(mm::motion.Position(mm::Pulley) > pos_min);
mm::motion.Step();
REQUIRE(mm::motion.CtrlForAxis(mm::Pulley).CurBlockShift() == -(steps - 1));
}