proj: switching to Linux

2025-07-06 11:00:29 +02:00
parent 9ebbedb04a
commit 8f0dbd4cbd
23 changed files with 255 additions and 170 deletions
@@ -1,4 +1,4 @@
 idf_component_register(
-    INCLUDE_DIRS "."
+    INCLUDE_DIRS "include"
    REQUIRES devHal
 )
@@ -0,0 +1,62 @@
+#pragma once
+
+#include "stepperDrv.hpp"
+#include "stepperMotor.hpp"
+#include <cmath>
+
+class WatchMotor {
+    static constexpr uint8_t Positions = 6;
+
+  public:
+    using AllmostFinishedCb = void (*)(uint8_t newIdx);
+    WatchMotor(IStepperMotor &stepper, AllmostFinishedCb onDone)
+        : _stepper(stepper),
+          _onFinCb(onDone) {
+    }
+
+    void moveTo(uint8_t position, uint8_t profile, int minJumps, float accel, float speed) {
+        auto sign = position % 6;
+
+        int minTurns = minJumps / 6;
+
+        float corr = 0.0F;
+        float currentPos = _stepper.getScaledPos() * 6;
+        if ((_currentIndex > 4) && (currentPos < 2)) {
+            corr = 6 - _currentIndex - currentPos;
+        } else if ((_currentIndex < 2) && (currentPos > 2)) {
+            corr = _currentIndex + 6 - currentPos;
+        } else {
+            corr = _currentIndex - currentPos;
+        }
+
+        int steps = 0;
+        if (_currentIndex < sign) {
+            steps = (sign - _currentIndex);
+        } else if (_currentIndex >= sign) {
+            steps = (sign + 6 - _currentIndex);
+        }
+        steps += minTurns * 6;
+        if (steps < minJumps) {
+            steps += 6;
+        }
+
+        float delta = 2.0F * std::numbers::pi / 6 * steps;
+
+        ESP_LOGD("MV", "Moving to %d by %.2f + %.2f", sign, delta, corr);
+
+        _stepper.moveBy(delta + corr, profile, accel, speed, [&]() {
+            if (_onFinCb) {
+                _onFinCb(position);
+            }
+        });
+        _currentIndex = sign;
+    }
+
+    float getScaled() { return _stepper.getScaledPos() * 6; }
+    uint8_t getIndex() { return _currentIndex; }
+
+  private:
+    IStepperMotor &_stepper;
+    uint8_t _currentIndex{};
+    AllmostFinishedCb _onFinCb{};
+};
@@ -0,0 +1 @@
+// Dummy file
@@ -0,0 +1,4 @@
+UnitTestsFrame()
+target_link_libraries(${moduleName} PUBLIC
+    devHal
+)
@@ -0,0 +1,105 @@
+/**
+ * @file TestableUTest.cpp
+ * @author Gustice
+ * @brief
+ *
+ * @copyright Copyright (c) 2024
+ */
+
+#define DOCTEST_CONFIG_IMPLEMENT_WITH_MAIN
+#include "doctest/doctest.h"
+#include <iostream>
+#include <numbers>
+
+#include "watchFace.hpp"
+
+class StepperMotorMock : public IStepperMotor {
+  public:
+    void moveBy(float angle, uint8_t profile = 0) override {
+        lastAngle = angle;
+        lastProfile = profile;
+    }
+    void moveBy(float angle, uint8_t profile, float accel, float speed, std::function<void()> profileDone = nullptr) override {
+        lastAngle = angle;
+        lastProfile = profile;
+    }
+    float getScaledPos() const override {
+        return nextPos;
+    }
+    uint16_t getQuanted() const override {
+        return 0;
+    }
+
+    float lastAngle{};
+    uint8_t lastProfile{};
+    float lastAccel{};
+    float lastSpeed{};
+    float nextPos{};
+};
+
+void onFin(uint8_t idx) {
+}
+
+class WatchFaceFixture {
+    using PositionStore = StepperMotor::Position<50, 5>;
+
+  public:
+  protected:
+    static constexpr int MicroSteps = 32;
+    StepperMotorMock motor;
+    WatchMotor sut{motor, onFin};
+
+  private:
+};
+
+TEST_CASE_FIXTURE(WatchFaceFixture, "Moving simple steps") {
+    auto next = 0*std::numbers::pi/3;
+    motor.nextPos = next;
+    sut.moveTo(1, 0, 0, 1, 1);
+    auto delta = 1*std::numbers::pi/3;
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+    
+    motor.nextPos = 1.0F/6;
+    sut.moveTo(2, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 2.0F/6;
+    sut.moveTo(3, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 3.0F/6;
+    sut.moveTo(4, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 4.0F/6;
+    sut.moveTo(5, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 5.0F/6;
+    sut.moveTo(6, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 6.0F/6;
+    sut.moveTo(1, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 1.0F/6;
+    sut.moveTo(2, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+}
+
+TEST_CASE_FIXTURE(WatchFaceFixture, "Moving multiple turns") {
+    auto next = 0*std::numbers::pi/3;
+    motor.nextPos = next;
+    sut.moveTo(1, 0, 0, 1, 1);
+    auto delta = 1*std::numbers::pi/3;
+    CHECK(motor.lastAngle == doctest::Approx(delta).epsilon(0.000625)); // MicroStep tolerance
+    
+    motor.nextPos = 1.0F/6;
+    sut.moveTo(1, 0, 0, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(6*delta).epsilon(0.000625)); // MicroStep tolerance
+
+    motor.nextPos = 1.0F/6;
+    sut.moveTo(1, 0, 7, 1, 1);
+    CHECK(motor.lastAngle == doctest::Approx(12*delta).epsilon(0.000625)); // MicroStep tolerance
+}
@@ -1,50 +0,0 @@
-#pragma once
-
-#include "StepperDrv8833.hpp"
-#include "stepperMotor.hpp"
-#include <cmath>
-
-class WatchMotor {
-    static constexpr uint8_t Positions = 6;
-
-  public:
-    WatchMotor(StepperMotor &stepper, OutputPort &sleep)
-        : _stepper(stepper),
-          _motorSleep(sleep) {
-        _motorSleep.write(false);
-    }
-
-    void moveTo(uint8_t sign, uint8_t profile = 0) {
-        sign = sign % 6;
-
-        float delta = 2.0F * std::numbers::pi;
-        float corr = 0.0F;
-        float currentPos = _stepper.getScaledPos() * 6;
-        if ((_currentIndex > 4) && (currentPos < 2)) {
-            corr = 6 - _currentIndex - currentPos;
-        } else if ((_currentIndex < 2) && (currentPos > 2)) {
-            corr = _currentIndex + 6 - currentPos;
-        } else {
-            corr = _currentIndex - currentPos;
-        }
-
-        // stepper.getScaledPos() * 6
-        if (_currentIndex < sign) {
-            delta = delta / 6 * (sign - _currentIndex);
-        } else if (_currentIndex > sign) {
-            delta = delta / 6 * (sign + 6 - _currentIndex);
-        }
-        ESP_LOGD("MV", "Moving to %d by %.2f + %.2f", sign, delta, corr);
-
-        _stepper.moveBy(delta + corr, profile);
-        _currentIndex = sign;
-    }
-
-    float getScaled() { return _stepper.getScaledPos() * 6; }
-    uint8_t getIndex() { return _currentIndex; }
-
-  private:
-    StepperMotor &_stepper;
-    OutputPort &_motorSleep;
-    uint8_t _currentIndex{};
-};