rotenctest.c

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/*
 * rotenctest.c
 *
 * Part of librfn (a general utility library from redfelineninja.org.uk)
 *
 * Copyright (C) 2016 Daniel Thompson <daniel@redfelineninja.org.uk>
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published
 * by the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 */

#undef NDEBUG

#include <librfn.h>

int main()
{
#define STEP(x, y) rotenc_decode(&myenc, (x << 1) + y)
        rotenc_t myenc = ROTENC_VAR_INIT;

        verify(0 == rotenc_count(&myenc));
        verify(0 == rotenc_count14(&myenc));

        /* no turn */
        STEP(0, 0);
        verify(0 == rotenc_count(&myenc));
        verify(0 == rotenc_count14(&myenc));

        /* turn cw */
        STEP(0, 1);
        verify(0 == rotenc_count(&myenc));
        verify(0 == rotenc_count14(&myenc));
        STEP(1, 1);
        verify(0 == rotenc_count(&myenc));
        verify(0 == rotenc_count14(&myenc));
        STEP(1, 0);
        verify(0 == rotenc_count(&myenc));
        verify(0 == rotenc_count14(&myenc));
        STEP(0, 0);
        verify(1 == rotenc_count(&myenc));
        verify(1 == rotenc_count14(&myenc));

        /* bounce */
        STEP(0, 1);
        verify(1 == rotenc_count(&myenc));
        verify(1 == rotenc_count14(&myenc));
        STEP(0, 0);
        verify(1 == rotenc_count(&myenc));
        verify(1 == rotenc_count14(&myenc));
        STEP(1, 0);
        verify(1 == rotenc_count(&myenc));
        verify(1 == rotenc_count14(&myenc));
        STEP(0, 0);
        verify(1 == rotenc_count(&myenc));
        verify(1 == rotenc_count14(&myenc));

        /* noise */
        STEP(1, 1);
        STEP(0, 0);
        verify(1 == rotenc_count(&myenc));
        verify(1 == rotenc_count14(&myenc));

        /* turn ccw */
        STEP(1, 0);
        verify(1 == rotenc_count(&myenc));
        verify(1 == rotenc_count14(&myenc));
        STEP(1, 1);
        verify(1 == rotenc_count(&myenc));
        verify(1 == rotenc_count14(&myenc));
        STEP(0, 1);
        verify(1 == rotenc_count(&myenc));
        verify(1 == rotenc_count14(&myenc));
        STEP(0, 0);
        verify(0 == rotenc_count(&myenc));
        verify(0 == rotenc_count14(&myenc));

        /* wrapped count */
        STEP(1, 0);
        STEP(1, 1);
        STEP(0, 1);
        STEP(0, 0);
        verify(255 == rotenc_count(&myenc));
        verify(16383 == rotenc_count14(&myenc));

        /* extremely wrapped count */
        for (int i=0; i<1024; i++) {
                STEP(1, 0);
                STEP(1, 1);
                STEP(0, 1);
                STEP(0, 0);
        }
        verify(255 == rotenc_count(&myenc));
        verify(16383-1024 == rotenc_count14(&myenc));

        /* cw turn */
        STEP(0, 1);
        STEP(1, 1);
        STEP(1, 0);
        STEP(0, 0);
        verify(0 == rotenc_count(&myenc));
        verify(16383-1023 == rotenc_count14(&myenc));

        return 0;
}