Add so many tests i am going to die

src/drivers/test/CMakeLists.txt

@@ -1 +1,3 @@
-idf_component_register(SRCS "test_storage.cpp" INCLUDE_DIRS "." REQUIRES catch2 cmock drivers)
+idf_component_register(
+  SRCS "test_storage.cpp" "test_gpio_expander.cpp" "test_battery.cpp" "test_dac.cpp"
+  INCLUDE_DIRS "." REQUIRES catch2 cmock drivers)

src/drivers/test/i2c_fixture.hpp

@@ -0,0 +1,10 @@
+#pragma once
+
+#include "catch2/catch.hpp"
+#include "i2c.hpp"
+
+class I2CFixture {
+ public:
+  I2CFixture() { REQUIRE(drivers::init_i2c() == ESP_OK); }
+  ~I2CFixture() { drivers::deinit_i2c(); }
+};

src/drivers/test/spi_fixture.hpp

@@ -0,0 +1,10 @@
+#pragma once
+
+#include "catch2/catch.hpp"
+#include "spi.hpp"
+
+class SpiFixture {
+ public:
+  SpiFixture() { REQUIRE(drivers::init_spi() == ESP_OK); }
+  ~SpiFixture() { drivers::deinit_spi(); }
+};

src/drivers/test/test_battery.cpp

@@ -0,0 +1,18 @@
+#include <cstdint>
+#include "battery.hpp"
+
+#include "catch2/catch.hpp"
+
+namespace drivers {
+
+TEST_CASE("battery measurement", "[integration]") {
+  REQUIRE(drivers::init_adc() == ESP_OK);
+
+  SECTION("voltage is within range") {
+    uint32_t voltage = read_battery_voltage();
+    REQUIRE(voltage <= 2200);  // Plugged in, no battery.
+    REQUIRE(voltage >= 1000);
+  }
+}
+
+}  // namespace drivers

src/drivers/test/test_dac.cpp

@@ -0,0 +1,21 @@
+#include <cstdint>
+#include "dac.hpp"
+#include "gpio-expander.hpp"
+#include "i2c.hpp"
+#include "i2c_fixture.hpp"
+
+#include "catch2/catch.hpp"
+
+namespace drivers {
+
+TEST_CASE("dac configuration", "[integration]") {
+  I2CFixture i2c;
+  GpioExpander expander;
+  std::unique_ptr<AudioDac> dac = AudioDac::create(&expander).value();
+
+  auto power_state = dac->ReadPowerState();
+
+  REQUIRE(power_state.first == true);  // booted
+}
+
+}  // namespace drivers

src/drivers/test/test_gpio_expander.cpp

@@ -0,0 +1,53 @@
+#include "gpio-expander.hpp"
+#include "i2c.hpp"
+#include "i2c_fixture.hpp"
+
+#include "catch2/catch.hpp"
+
+namespace drivers {
+
+TEST_CASE("gpio expander", "[integration]") {
+  I2CFixture i2c;
+  GpioExpander expander;
+  SECTION("with() writes when ") {
+    // Initial value.
+    expander.Read();
+    REQUIRE(expander.get_input(GpioExpander::GPIO_1) == true);
+
+    expander.with(
+        [&](auto& gpio) { gpio.set_pin(GpioExpander::GPIO_1, false); });
+
+    expander.Read();
+    REQUIRE(expander.get_input(GpioExpander::GPIO_1) == false);
+  }
+
+  SECTION("setting individual pins") {
+    expander.set_pin(GpioExpander::GPIO_1, true);
+    expander.set_pin(GpioExpander::GPIO_2, false);
+    expander.set_pin(GpioExpander::GPIO_3, false);
+    expander.set_pin(GpioExpander::GPIO_4, true);
+
+    expander.Write();
+    expander.Read();
+
+    REQUIRE(expander.get_input(GpioExpander::GPIO_1) == true);
+    REQUIRE(expander.get_input(GpioExpander::GPIO_2) == false);
+    REQUIRE(expander.get_input(GpioExpander::GPIO_3) == false);
+    REQUIRE(expander.get_input(GpioExpander::GPIO_4) == true);
+
+    expander.set_pin(GpioExpander::GPIO_1, false);
+    expander.set_pin(GpioExpander::GPIO_2, true);
+    expander.set_pin(GpioExpander::GPIO_3, true);
+    expander.set_pin(GpioExpander::GPIO_4, false);
+
+    expander.Write();
+    expander.Read();
+
+    REQUIRE(expander.get_input(GpioExpander::GPIO_1) == false);
+    REQUIRE(expander.get_input(GpioExpander::GPIO_2) == true);
+    REQUIRE(expander.get_input(GpioExpander::GPIO_3) == true);
+    REQUIRE(expander.get_input(GpioExpander::GPIO_4) == false);
+  }
+}
+
+}  // namespace drivers

src/drivers/test/test_storage.cpp

@@ -4,9 +4,11 @@
 #include <iostream>
 
 #include "gpio-expander.hpp"
-#include "storage.hpp"
 #include "i2c.hpp"
+#include "i2c_fixture.hpp"
 #include "spi.hpp"
+#include "spi_fixture.hpp"
+#include "storage.hpp"
 
 #include "catch2/catch.hpp"
 
@@ -17,15 +19,14 @@ static const std::string kTestFilePath =
     std::string(kStoragePath) + "/" + kTestFilename;
 
 TEST_CASE("sd card storage", "[integration]") {
-  REQUIRE( drivers::init_i2c() == ESP_OK );
+  I2CFixture i2c;
-  REQUIRE( drivers::init_spi() == ESP_OK );
+  SpiFixture spi;
   GpioExpander expander;
 
   {
     std::unique_ptr<SdStorage> result = SdStorage::create(&expander).value();
 
     SECTION("write to a file") {
-
       {
         std::ofstream test_file;
         test_file.open(kTestFilePath.c_str());
@@ -60,15 +61,37 @@ TEST_CASE("sd card storage", "[integration]") {
         closedir(dir);
 
         REQUIRE(found_test_file);
-
       }
 
       REQUIRE(remove(kTestFilePath.c_str()) == 0);
     }
   }
+}
+
+// Failing due to hardware issue. Re-enable in R2.
+TEST_CASE("sd card mux", "[integration][!mayfail]") {
+  I2CFixture i2c;
+  SpiFixture spi;
+  GpioExpander expander;
+
+  SECTION("accessible when switched on") {
+    expander.with([&](auto& gpio) {
+      gpio.set_pin(GpioExpander::SD_MUX_SWITCH, GpioExpander::SD_MUX_ESP);
+    });
+
+    auto result = SdStorage::create(&expander);
+    REQUIRE(result.has_value());
+  }
+
+  SECTION("inaccessible when switched off") {
+    expander.with([&](auto& gpio) {
+      gpio.set_pin(GpioExpander::SD_MUX_SWITCH, GpioExpander::SD_MUX_USB);
+    });
 
-  REQUIRE( drivers::deinit_i2c() == ESP_OK );
+    auto result = SdStorage::create(&expander);
-  REQUIRE( drivers::deinit_spi() == ESP_OK );
+    REQUIRE(result.has_error());
+    REQUIRE(result.error() == SdStorage::FAILED_TO_READ);
+  }
 }
 
 }  // namespace drivers