remove OpKnit::encodePosition()

src/ayab/com.cpp

@@ -158,7 +158,7 @@ void Com::send_indState(Err_t error) const {
  * \param size The number of bytes in the data buffer.
  */
 void Com::onPacketReceived(const uint8_t *buffer, size_t size) {
-  GlobalController::getState()->com(buffer, size);
+  GlobalController::com(buffer, size);
 }
 
 // Serial command handling

src/ayab/com.h

@@ -138,7 +138,7 @@ class Com : public ComInterface {
 public:
   void init() final;
   void update() final;
-  uint8_t CRC8(const uint8_t *buffer, size_t len) const;
+  uint8_t CRC8(const uint8_t *buffer, size_t len) const final;
   void send(uint8_t *payload, size_t length) const final;
   void sendMsg(API_t id, const char *msg) final;
   void sendMsg(API_t id, char *msg) final;

src/ayab/controller.cpp

@@ -74,6 +74,13 @@ void Controller::update() {
   m_currentState = m_nextState;
 }
 
+/*!
+ * \brief Call communication method for current machine state
+ */
+void Controller::com(const uint8_t *buffer, size_t size) const {
+  m_currentState->com(buffer, size);
+}
+
 /*!
  * \brief Cache Encoder values
  * The code that saves the Encoder values is bookended by macros
@@ -109,7 +116,7 @@ void Controller::setState(OpInterface *state) {
  * \brief Get machine state.
  * \return Current state of Finite State Machine.
  */
-OpInterface *Controller::getState() {
+OpInterface *Controller::getState() const {
   return m_currentState;
 }
 
@@ -125,46 +132,46 @@ void Controller::setMachineType(Machine_t machineType) {
  * \brief Get knitting machine type.
  * \return Machine type.
  */
-Machine_t Controller::getMachineType() {
+Machine_t Controller::getMachineType() const {
   return m_machineType;
 }
 
 /*!
  * \brief Get cached beltShift value.
  * \return Cached beltShift value.
  */
-BeltShift_t Controller::getBeltShift() {
+BeltShift_t Controller::getBeltShift() const {
   return m_beltShift;
 }
 
 /*!
  * \brief Get cached carriage value.
  * \return Cached carriage value.
  */
-Carriage_t Controller::getCarriage() {
+Carriage_t Controller::getCarriage() const {
   return m_carriage;
 }
 
 /*!
  * \brief Get cached direction value.
  * \return Cached direction value.
  */
-Direction_t Controller::getDirection() {
+Direction_t Controller::getDirection() const {
   return m_direction;
 }
 
 /*!
  * \brief Get cached hallActive value.
  * \return Cached hallActive value.
  */
-Direction_t Controller::getHallActive() {
+Direction_t Controller::getHallActive() const {
   return m_hallActive;
 }
 
 /*!
  * \brief Get cached position value.
  * \return Cached position value.
  */
-uint8_t Controller::getPosition() {
+uint8_t Controller::getPosition() const {
   return m_position;
 }

src/ayab/controller.h

@@ -36,16 +36,17 @@ class ControllerInterface {
   // any methods that need to be mocked should go here
   virtual void init() = 0;
   virtual void update() = 0;
+  virtual void com(const uint8_t *buffer, size_t size) const = 0;
   virtual void cacheEncoders() = 0;
   virtual void setState(OpInterface *state) = 0;
-  virtual OpInterface *getState() = 0;
+  virtual OpInterface *getState() const = 0;
   virtual void setMachineType(Machine_t) = 0;
-  virtual Machine_t getMachineType() = 0;
-  virtual BeltShift_t getBeltShift() = 0;
-  virtual Carriage_t getCarriage() = 0;
-  virtual Direction_t getDirection() = 0;
-  virtual Direction_t getHallActive() = 0;
-  virtual uint8_t getPosition() = 0;
+  virtual Machine_t getMachineType() const = 0;
+  virtual BeltShift_t getBeltShift() const = 0;
+  virtual Carriage_t getCarriage() const = 0;
+  virtual Direction_t getDirection() const = 0;
+  virtual Direction_t getHallActive() const = 0;
+  virtual uint8_t getPosition() const = 0;
 };
 
 // Singleton container class for static methods.
@@ -65,6 +66,7 @@ class GlobalController final {
 
   static void init();
   static void update();
+  static void com(const uint8_t *buffer, size_t size);
   static void cacheEncoders();
   static void setState(OpInterface *state);
   static OpInterface *getState();
@@ -81,16 +83,17 @@ class Controller : public ControllerInterface {
 public:
   void init() final;
   void update() final;
+  void com(const uint8_t *buffer, size_t size) const final;
   void cacheEncoders() final;
   void setState(OpInterface *state) final;
-  OpInterface *getState() final;
+  OpInterface *getState() const final;
   void setMachineType(Machine_t) final;
-  Machine_t getMachineType() final;
-  BeltShift_t getBeltShift() final;
-  Carriage_t getCarriage() final;
-  Direction_t getDirection() final;
-  Direction_t getHallActive() final;
-  uint8_t getPosition() final;
+  Machine_t getMachineType() const final;
+  BeltShift_t getBeltShift() const final;
+  Carriage_t getCarriage() const final;
+  Direction_t getDirection() const final;
+  Direction_t getHallActive() const final;
+  uint8_t getPosition() const final;
 
   // machine state
   OpInterface *m_currentState;

src/ayab/global_OpKnit.cpp

@@ -59,10 +59,6 @@ Err_t GlobalOpKnit::startKnitting(uint8_t startNeedle,
                                    pattern_start, continuousReportingEnabled);
 }
 
-void GlobalOpKnit::encodePosition() {
-  m_instance->encodePosition();
-}
-
 void GlobalOpKnit::knit() {
   m_instance->knit();
 }

src/ayab/global_com.cpp

@@ -58,11 +58,9 @@ void GlobalCom::send_indState(Err_t error) {
   m_instance->send_indState(error);
 }
 
-// GCOVR_EXCL_START
 void GlobalCom::onPacketReceived(const uint8_t *buffer, size_t size) {
   m_instance->onPacketReceived(buffer, size);
 }
-// GCOVR_EXCL_STOP
 
 void GlobalCom::h_reqInit(const uint8_t *buffer, size_t size) {
   m_instance->h_reqInit(buffer, size);

src/ayab/global_controller.cpp

@@ -32,6 +32,10 @@ void GlobalController::update() {
   m_instance->update();
 }
 
+void GlobalController::com(const uint8_t *buffer, size_t size) {
+  m_instance->com(buffer, size);
+}
+
 void GlobalController::cacheEncoders() {
   m_instance->cacheEncoders();
 }

src/ayab/opKnit.cpp

@@ -167,22 +167,6 @@ Err_t OpKnit::startKnitting(uint8_t startNeedle,
   return Err_t::Success;
 }
 
-/*!
- * \brief Record current encoder position.
- *
- * Used in hardware test procedure.
- */
-void OpKnit::encodePosition() {
-  auto position = GlobalController::getPosition();
-  if (m_sOldPosition != position) {
-    // only act if there is an actual change of position
-    // store current encoder position for next call of this function
-    m_sOldPosition = position;
-    (void) calculatePixelAndSolenoid();
-    GlobalCom::send_indState(Err_t::Unspecified_failure); // FIXME is this the right error code?
-  }
-}
-
 /*!
  * \brief Function that is repeatedly called during state `OpKnit`
  */

src/ayab/opKnit.h

@@ -35,7 +35,6 @@ class OpKnitInterface : public OpInterface {
   virtual Err_t startKnitting(uint8_t startNeedle,
                               uint8_t stopNeedle, uint8_t *pattern_start,
                               bool continuousReportingEnabled) = 0;
-  virtual void encodePosition() = 0;
   virtual void knit() = 0;
   virtual uint8_t getStartOffset(const Direction_t direction) = 0;
   virtual bool setNextLine(uint8_t lineNumber) = 0;
@@ -67,7 +66,6 @@ class GlobalOpKnit final {
   static Err_t startKnitting(uint8_t startNeedle,
                              uint8_t stopNeedle, uint8_t *pattern_start,
                              bool continuousReportingEnabled);
-  static void encodePosition();
   static void knit();
   static uint8_t getStartOffset(const Direction_t direction);
   static bool setNextLine(uint8_t lineNumber);
@@ -86,7 +84,6 @@ class OpKnit : public OpKnitInterface {
   Err_t startKnitting(uint8_t startNeedle,
                       uint8_t stopNeedle, uint8_t *pattern_start,
                       bool continuousReportingEnabled) final;
-  void encodePosition() final;
   void knit() final;
   uint8_t getStartOffset(const Direction_t direction) final;
   bool setNextLine(uint8_t lineNumber) final;
@@ -120,7 +117,6 @@ class OpKnit : public OpKnitInterface {
 
 #if AYAB_TESTS
   // Note: ideally tests would only rely on the public interface.
-  FRIEND_TEST(OpKnitTest, test_encodePosition);
   FRIEND_TEST(OpKnitTest, test_getStartOffset);
   FRIEND_TEST(OpKnitTest, test_knit_lastLine_and_no_req);
   FRIEND_TEST(OpKnitTest, test_calculatePixelAndSolenoid);

src/ayab/opTest.cpp

@@ -85,7 +85,6 @@ void OpTest::begin() {
  */
 void OpTest::update() {
   if (enabled()) {
-    GlobalOpKnit::encodePosition(); // FIXME is this even necessary?
     uint32_t now = millis();
     if (now - m_lastTime >= TEST_LOOP_DELAY) {
       m_lastTime = now;

test/mocks/controller_mock.cpp

@@ -50,6 +50,11 @@ void Controller::update() {
   gControllerMock->update();
 }
 
+uint8_t Controller::com(const uint8_t *buffer, size_t size) const {
+  assert(gControllerMock != nullptr);
+  return gControllerMock->com(buffer, size);
+}
+
 void Controller::cacheEncoders() {
   assert(gControllerMock != nullptr);
   gControllerMock->cacheEncoders();
@@ -60,7 +65,7 @@ void Controller::setState(OpInterface *state) {
   gControllerMock->setState(state);
 }
 
-OpInterface *Controller::getState() {
+OpInterface *Controller::getState() const {
   assert(gControllerMock != nullptr);
   return gControllerMock->getState();
 }
@@ -70,32 +75,32 @@ void Controller::setMachineType(Machine_t machineType) {
   gControllerMock->setMachineType(machineType);
 }
 
-Machine_t Controller::getMachineType() {
+Machine_t Controller::getMachineType() const {
   assert(gControllerMock != nullptr);
   return gControllerMock->getMachineType();
 }
 
-BeltShift_t Controller::getBeltShift() {
+BeltShift_t Controller::getBeltShift() const {
   assert(gControllerMock != nullptr);
   return gControllerMock->getBeltShift();
 }
 
-Carriage_t Controller::getCarriage() {
+Carriage_t Controller::getCarriage() const {
   assert(gControllerMock != nullptr);
   return gControllerMock->getCarriage();
 }
 
-Direction_t Controller::getDirection() {
+Direction_t Controller::getDirection() const {
   assert(gControllerMock != nullptr);
   return gControllerMock->getDirection();
 }
 
-Direction_t Controller::getHallActive() {
+Direction_t Controller::getHallActive() const {
   assert(gControllerMock != nullptr);
   return gControllerMock->getHallActive();
 }
 
-uint8_t Controller::getPosition() {
+uint8_t Controller::getPosition() const {
   assert(gControllerMock != nullptr);
   return gControllerMock->getPosition();
 }

test/mocks/controller_mock.h

@@ -33,16 +33,17 @@ class ControllerMock : public ControllerInterface {
 public:
   MOCK_METHOD0(init, void());
   MOCK_METHOD0(update, void());
+  MOCK_CONST_METHOD2(com, void(const uint8_t *buffer, size_t size));
   MOCK_METHOD0(cacheEncoders, void());
   MOCK_METHOD1(setState, void(OpInterface *state));
-  MOCK_METHOD0(getState, OpInterface*());
+  MOCK_CONST_METHOD0(getState, OpInterface*());
   MOCK_METHOD1(setMachineType, void(Machine_t machineType));
-  MOCK_METHOD0(getMachineType, Machine_t());
-  MOCK_METHOD0(getBeltShift, BeltShift_t());
-  MOCK_METHOD0(getCarriage, Carriage_t());
-  MOCK_METHOD0(getDirection, Direction_t());
-  MOCK_METHOD0(getHallActive, Direction_t());
-  MOCK_METHOD0(getPosition, uint8_t());
+  MOCK_CONST_METHOD0(getMachineType, Machine_t());
+  MOCK_CONST_METHOD0(getBeltShift, BeltShift_t());
+  MOCK_CONST_METHOD0(getCarriage, Carriage_t());
+  MOCK_CONST_METHOD0(getDirection, Direction_t());
+  MOCK_CONST_METHOD0(getHallActive, Direction_t());
+  MOCK_CONST_METHOD0(getPosition, uint8_t());
 };
 
 ControllerMock *controllerMockInstance();

test/mocks/opKnit_mock.cpp

@@ -76,11 +76,6 @@ Err_t OpKnit::startKnitting(uint8_t startNeedle,
                                      pattern_start, continuousReportingEnabled);
 }
 
-void OpKnit::encodePosition() {
-  assert(gOpKnitMock != nullptr);
-  gOpKnitMock->encodePosition();
-}
-
 void OpKnit::knit() {
   assert(gOpKnitMock != nullptr);
   gOpKnitMock->knit();

test/mocks/opKnit_mock.h

@@ -41,7 +41,6 @@ class OpKnitMock : public OpKnitInterface {
   MOCK_METHOD4(startKnitting, Err_t(uint8_t startNeedle,
                                     uint8_t stopNeedle, uint8_t *pattern_start,
                                     bool continuousReportingEnabled));
-  MOCK_METHOD0(encodePosition, void());
   MOCK_METHOD0(knit, void());
   MOCK_METHOD1(getStartOffset, uint8_t(const Direction_t direction));
   MOCK_METHOD1(setNextLine, bool(uint8_t lineNumber));

test/test_OpKnit.cpp

@@ -308,19 +308,6 @@ TEST_F(OpKnitTest, test_com) {
   ASSERT_TRUE(Mock::VerifyAndClear(comMock));
 }
 
-TEST_F(OpKnitTest, test_encodePosition) {
-  opKnit->m_sOldPosition = controller->getPosition();
-  EXPECT_CALL(*comMock, send_indState).Times(0);
-  opKnit->encodePosition();
-
-  opKnit->m_sOldPosition += 1;
-  EXPECT_CALL(*comMock, send_indState).Times(1);
-  opKnit->encodePosition();
-
-  // test expectations without destroying instance
-  ASSERT_TRUE(Mock::VerifyAndClear(comMock));
-}
-
 TEST_F(OpKnitTest, test_cacheISR) {
   expected_cacheISR();