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proj: switching to Linux

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This commit is contained in:
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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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()