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Gustice
2025-07-06 11:00:29 +02:00
parent 9ebbedb04a
commit 8f0dbd4cbd
23 changed files with 255 additions and 170 deletions
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.vscode/launch.json
Vendored
+33
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@@ -10,6 +10,39 @@
"type": "espidf",
"name": "Launch",
"request": "launch"
},
{
"name": "C/C++: g++.exe debug selected file",
"type": "cppdbg",
"request": "launch",
// "program": "${fileDirname}\\${fileBasenameNoExtension}.exe",
"program": "${workspaceFolder}/test/unitOnHost/build/watchFace/watchFaceTest.exe",
// "program": "${workspaceFolder}/core/test/unitOnHost/build/devHal/devHalTest.exe",
"args": [],
"stopAtEntry": false,
"cwd": "${fileDirname}",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"miDebuggerPath": "C:\\msys64\\ucrt64\\bin\\gdb.exe",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
},
{
"description": "Set Disassembly Flavor to Intel",
"text": "-gdb-set disassembly-flavor intel",
"ignoreFailures": true
}
],
"existing": false,
// "preLaunchTask": "C/C++: g++.exe build active file",
"detail": "preLaunchTask: C/C++: g++.exe build active file",
"taskDetail": "compiler: C:\\msys64\\ucrt64\\bin\\g++.exe",
"taskStatus": "Detected Task"
}
]
}
components/watchFace/CMakeLists.txt
+1 -1
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@@ -1,4 +1,4 @@
idf_component_register(
INCLUDE_DIRS "."
INCLUDE_DIRS "include"
REQUIRES devHal
)
components/watchFace/include/watchFace.hpp
+62
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@@ -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{};
};
components/watchFace/src/watchFace.cpp
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@@ -0,0 +1 @@
// Dummy file
components/watchFace/uTest/CMakeLists.txt
+4
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@@ -0,0 +1,4 @@
UnitTestsFrame()
target_link_libraries(${moduleName} PUBLIC
devHal
)
components/watchFace/uTest/WatchFaceUTest.cpp
+105
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@@ -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
}
components/watchFace/watchFace.hpp
-50
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@@ -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{};
};
core
+1 -1
Submodule core updated: c85bfa2afc...1ce930dff8
doc/LiveShowProject/CatasWatchProject.lsb
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doc/LiveShowProject/CatasWatchProject.lsc
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doc/LiveShowProject/CatasWatchProject.lsd
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doc/LiveShowProject/CatasWatchProject.lsh
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doc/LiveShowProject/CatasWatchProject.lsu
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doc/LiveShowProject/CatasWatchProject.spi
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main/watchMain.cpp
+15 -20
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@@ -591,7 +591,10 @@ void MovementTask() {
StepperMotor stepper(stepperCfg, stepperDriver, initSens);
WatchMotor watch(stepper, motorSleep);
WatchMotor watch(stepper, [](uint8_t newPos) {
pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(newPos));
responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StepAt, newPos));
});
ESP_LOGI("Stepper", "Find Home");
stepper.findRef();
@@ -627,23 +630,15 @@ void MovementTask() {
continue;
}
int jumps = newPos - watch.getIndex();
if (jumps <= 0) {
jumps += 6;
}
jumps = jumps + (activeState.minJumps % 6) * 6;
if (jumps < activeState.minJumps) {
jumps += 6;
}
Syslog::logv(Syslog::Severity::Notice,
"Running Stepper by %i steps with prof=%i a=%.2f w=%.2f",
jumps, activeState.profile, activeState.accel, activeState.speed);
"Running Stepper by min%i steps with prof=%i a=%.2f w=%.2f",
activeState.minJumps, activeState.profile, activeState.accel, activeState.speed);
pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(0));
responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StartMoving, 0));
watch.moveTo(newPos, activeState.profile);
pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(newPos));
responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StepAt, newPos));
auto &as = activeState;
watch.moveTo(newPos, as.profile, as.minJumps, as.accel, as.speed);
// pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(newPos));
// responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StepAt, newPos));
}
} else if (cmd->type == MoveType::Demo) {
ESP_LOGI(TAG, "Running Demo");
@@ -652,7 +647,7 @@ void MovementTask() {
fos::Task::delayMs(1000);
int steps[3]{4, 2, 0};
for (size_t j = 0; j < 3; j++) {
watch.moveTo(steps[j], i);
watch.moveTo(steps[j], i, 1, 1, 1);
fos::Task::delayMs(1000);
}
}
@@ -735,7 +730,7 @@ bool onCheckSpitTypeVeto(bool knownType, bool createdByClient) {
}
bool onCheckSpitObjectVeto(bool knownType) {
return true; // Bypass veto
return true; // Bypass veto
if (!knownType) { // Don't allow objects of unregistered SPITTypes
return false;
}
@@ -988,8 +983,8 @@ void app_main(void) {
// ToDo send
Syslog::logv(Syslog::Severity::Notice, "Health state");
// ESP_LOGI(TAG, "Min heap size: %" PRIu32 " / FreeHeap %" PRIu32 "\n",
ESP_LOGI(TAG, "Min heap size: %u / FreeHeap %lu",
heap_caps_get_minimum_free_size(MALLOC_CAP_DEFAULT),
esp_get_free_heap_size());
// ESP_LOGI(TAG, "Min heap size: %u / FreeHeap %lu",
// heap_caps_get_minimum_free_size(MALLOC_CAP_DEFAULT),
// esp_get_free_heap_size());
}
}
main/watchMain.hpp
+1 -1
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@@ -24,7 +24,7 @@
// Component header
#include "Task.hpp"
#include "PwmExpanderPca9685.hpp"
#include "StepperDrv8833.hpp"
#include "stepperDrv.hpp"
#include "stepperMotor.hpp"
#include "cliWrapper.hpp"
#include "udpSockets.hpp"
startCode.sh
+3
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@@ -0,0 +1,3 @@
#!/bin/bash
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
code --profile Embed-Esp ${SCRIPT_DIR}
test/integration/main/movementTests.cpp
+24 -6
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@@ -11,11 +11,11 @@
#include "Processor.hpp"
#include "PwmExpanderPca9685.hpp"
#include "StepperDrv8833.hpp"
#include "Task.hpp"
#include "esp_event.h"
#include "esp_log.h"
#include "sdkconfig.h"
#include "stepperDrv.hpp"
#include "stepperMotor.hpp"
#include "watchFace.hpp"
#include <array>
@@ -181,6 +181,10 @@ constexpr bool DoFullTurns = false;
constexpr bool DoTurnSteps = false;
constexpr bool DoTurnProfiles = true;
void AllmostDone(uint8_t newIdx) {
ESP_LOGW(TAG, "Done callback");
}
void testMovementTask() {
esp_log_level_set(TAG, ESP_LOG_DEBUG);
esp_log_level_set("STP", ESP_LOG_DEBUG);
@@ -207,7 +211,7 @@ void testMovementTask() {
OutputPort motorSleep(GPIO_NUM_15, GpioPort::Logic::Inverted);
StepperMotor stepper(stepperCfg, stepperDriver, initSens);
WatchMotor watch(stepper, motorSleep);
WatchMotor watch(stepper, motorSleep, AllmostDone);
///
/// Full Turns with full steps
@@ -273,14 +277,14 @@ void testMovementTask() {
ESP_LOGI(TAG, "Move to each index multiple times");
illum.flashAll(BLUE);
for (size_t i = 1; i <= 2 * 3; i++) {
watch.moveTo(3 * i);
watch.moveTo(3 * i, 0, 0, 1, 1);
ESP_LOGD(TAG, "Position is %3d / %.2f", stepper.getQuanted(), stepper.getScaledPos() * 6);
}
ESP_LOGI(TAG, "Move to each index multiple times");
illum.flashAll(BLUE);
for (size_t i = 1; i <= 6 * 3; i++) {
watch.moveTo(i);
watch.moveTo(i, 0, 0, 1, 1);
ESP_LOGD(TAG, "Position is %3d / %.2f", stepper.getQuanted(), stepper.getScaledPos() * 6);
}
}
@@ -290,14 +294,28 @@ void testMovementTask() {
///
if constexpr (DoTurnProfiles) {
for (size_t i = ProfileGenerator::Smooth; i < ProfileGenerator::NumProfiles; i++) {
// for (size_t i = ProfileGenerator::JumpIn; i < ProfileGenerator::NumProfiles; i++) { // If only part is needed
// for (size_t i = ProfileGenerator::JumpIn; i < ProfileGenerator::NumProfiles; i++) { // If only part is needed
ESP_LOGI(TAG, "Running Profile %d ", i);
ESP_LOGD(TAG, "Fist Position is %3d / %.2f / Micro %d", stepper.getQuanted(), stepper.getScaledPos() * 6, stepper.getSubPos());
fos::Task::delayMs(1000);
illum.flashAll(BLUE);
int steps[3]{4, 2, 0};
for (size_t j = 0; j < 3; j++) {
watch.moveTo(steps[j], i);
watch.moveTo(steps[j], i, 0, 1, 1);
ESP_LOGI(TAG, "Last position is %3d / %.2f", stepper.getQuanted(), stepper.getScaledPos() * 6);
fos::Task::delayMs(1000);
}
}
for (size_t i = ProfileGenerator::Smooth; i < ProfileGenerator::NumProfiles; i++) {
// for (size_t i = ProfileGenerator::JumpIn; i < ProfileGenerator::NumProfiles; i++) { // If only part is needed
ESP_LOGI(TAG, "Running Profile %d ", i);
ESP_LOGD(TAG, "Fist Position is %3d / %.2f / Micro %d", stepper.getQuanted(), stepper.getScaledPos() * 6, stepper.getSubPos());
fos::Task::delayMs(1000);
illum.flashAll(BLUE);
int steps[3]{4, 2, 0};
for (size_t j = 0; j < 3; j++) {
watch.moveTo(steps[j], i, 0, 3, 3);
ESP_LOGI(TAG, "Last position is %3d / %.2f", stepper.getQuanted(), stepper.getScaledPos() * 6);
fos::Task::delayMs(1000);
}
test/unitOnHost/CMakeLists.txt
+4 -19
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@@ -1,26 +1,11 @@
cmake_minimum_required(VERSION 3.16)
include(../../core/test/unitOnHost/test_core.cmake)
set(DEF_UTESTDIR "uTest")
set(DEF_SRCDIR "src")
set(DEF_INCLUDEDIR "include")
# use just host compilers for this one
set(CMAKE_C_COMPILER "gcc")
set(CMAKE_CXX_COMPILER "g++")
set(CMAKE_GENERATOR "Ninja")
set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
set(CMAKE_VERBOSE_MAKEFILE TRUE)
include(test_core.cmake)
UnitTestSetup()
enable_testing()
project(UnitTests)
find_package(doctest REQUIRED PATHS "/mingw64/lib/cmake")
# target_link_libraries(${PROJECT_NAME} PRIVATE doctest::doctest)
addSubDirs_ofRoot("${CMAKE_CURRENT_LIST_DIR}/../../components")
addSubDirs_ofRoot("${CMAKE_CURRENT_LIST_DIR}/../../core/components")
add_subdirectory("${CMAKE_CURRENT_LIST_DIR}/../../core/test/unitOnHost/hwMock" hwMock)
test/unitOnHost/ReadMe.md
-28
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@@ -1,28 +0,0 @@
# Unit Testing - Software
In contrast to *test*-directory this module demonstrates how unit tests can also be run on host.
These unit tests aim to test freestanding software modules with more convenient methods and tools
## Setup
make sure you have following packages installed on your host syste
- gnu compiler
- cmake
- generator
- doctest-dev
## Build and test code
* Start some terminal in *uTest*-directory that has access to all needed tools (i.e. on windows a mingw environment or WSL)
Run following commands
```sh
# run cmake configuration
cmake -S . -B build
# run cmake build
cmake --build build
# run tests
./build/<testprog>
# run all tests with
cd build && ctest
```
test/unitOnHost/test_core.cmake
-43
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@@ -1,43 +0,0 @@
function(addSubDirs_ofRoot anchorPath)
message("scanning: ${anchorPath}")
file(GLOB targetModules RELATIVE "${anchorPath}" "${anchorPath}/*")
foreach(module ${targetModules})
message("checking: ${module}")
get_filename_component(moduleName ${module} NAME)
set(modulePath "${anchorPath}/${moduleName}")
if (NOT IS_DIRECTORY "${modulePath}")
# skip files
continue()
endif()
if (${moduleName} MATCHES "^_.*")
# skip ignored component
continue()
endif()
if(EXISTS "${modulePath}/${DEF_UTESTDIR}")
message("Found unit-test: ${moduleName}")
add_subdirectory("${modulePath}/${DEF_UTESTDIR}" ${moduleName})
endif()
endforeach()
endfunction()
macro(unitTestsFrame)
if (CMAKE_TESTING_ENABLED)
# get_filename_component(moduleName "${CMAKE_CURRENT_LIST_DIR}/.." NAME)
file(GLOB_RECURSE targetSources "../${DEF_SRCDIR}/*.cpp" "../${DEF_SRCDIR}/*.c")
add_library(${moduleName} ${targetSources})
target_include_directories(${moduleName} PUBLIC "../${DEF_INCLUDEDIR}")
set(moduleTestName "${moduleName}Test")
file(GLOB_RECURSE testSource "*.cpp")
add_executable(${moduleTestName} ${testSource})
target_link_libraries(${moduleTestName} PRIVATE ${moduleName} doctest::doctest)
target_include_directories(${moduleTestName} PRIVATE "../${DEF_SRCDIR}")
add_test (TEST-${moduleName} ${moduleTestName})
# gtest_discover_tests(${moduleTestName}
# PROPERTIES TIMEOUT 30 LABELS ${moduleName} LABELS "all"
# )
endif()
endmacro()