redux

AllYarnsAreBeautiful · Sep 27, 2023 · 2e584b9 · 2e584b9
1 parent 9b9feef
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Showing 12 changed files with 224 additions and 65 deletions.
diff --git a/init b/init
@@ -0,0 +1,125 @@
+test/test_encoders.cpp:    encoders->init(Machine_t::Kh910);
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), 0x01);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::NoCarriage);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())] - 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_RIGHT_MINUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:  ASSERT_FALSE(encoders->getMachineType() == Machine_t::Kh270);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::NoCarriage);
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MIN[static_cast<int8_t>(encoders->getMachineType())] - 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getHallActive(), Direction_t::Left);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Lace);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getBeltShift(), BeltShift::Regular);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->m_position = 0;
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:  encoders->init(Machine_t::Kh270);
+test/test_encoders.cpp:  ASSERT_TRUE(encoders->getMachineType() == Machine_t::Kh270);
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getHallActive(), Direction_t::Left);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(Machine_t::Kh270)]);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getBeltShift(), BeltShift::Regular);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->init(Machine_t::Kh270);
+test/test_encoders.cpp:  ASSERT_TRUE(encoders->getMachineType() == Machine_t::Kh270);
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getHallActive(), Direction_t::Left);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(Machine_t::Kh270)] + MAGNET_DISTANCE_270);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getBeltShift(), BeltShift::Regular);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MIN[static_cast<int8_t>(encoders->getMachineType())] - 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Garter);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())] - 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->m_position = END_LEFT[static_cast<uint8_t>(encoders->getMachineType())] + 1;
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getHallActive(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_RIGHT_MINUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::NoCarriage);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getBeltShift(), BeltShift::Shifted);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_RIGHT_MINUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  uint16_t pos = END_RIGHT_MINUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())];
+test/test_encoders.cpp:  while (pos < END_RIGHT[static_cast<int8_t>(encoders->getMachineType())]) {
+test/test_encoders.cpp:        .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:    encoders->isr();
+test/test_encoders.cpp:    ASSERT_EQ(encoders->getPosition(), ++pos);
+test/test_encoders.cpp:        .WillOnce(Return(FILTER_R_MAX[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:    encoders->isr();
+test/test_encoders.cpp:    ASSERT_EQ(encoders->getPosition(), pos);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), pos);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), pos);
+test/test_encoders.cpp:  ASSERT_TRUE(encoders->getMachineType() == Machine_t::Kh910);
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())] - 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MAX[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  uint8_t p = encoders->getPosition();
+test/test_encoders.cpp:  BeltShift_t b = encoders->getBeltShift();
+test/test_encoders.cpp:  Direction_t d = encoders->getDirection();
+test/test_encoders.cpp:  Direction_t d = encoders->getHallActive();
+test/test_encoders.cpp:  Carriage_t c = encoders->getCarriage();
+test/test_encoders.cpp:  Machine_t m = encoders->getMachineType();
+test/test_encoders.cpp:  encoders->init(Machine_t::Kh270);
+test/test_encoders.cpp:  Machine_t m = encoders->getMachineType();
+test/test_encoders.cpp:  uint16_t v = encoders->getHallValue(Direction_t::NoDirection);
+test/test_encoders.cpp:  v = encoders->getHallValue(Direction_t::Left);
+test/test_encoders.cpp:  v = encoders->getHallValue(Direction_t::Right);
+test/test_encoders.cpp:  v = encoders->getHallValue(Direction_t::Right);
diff --git a/src/ayab/global_OpInit.cpp b/src/ayab/global_OpInit.cpp
@@ -48,4 +48,9 @@ void GlobalOpInit::com(const uint8_t *buffer, size_t size) {
 
 void GlobalOpInit::end() {
   m_instance->end();
+
+}
+
+bool GlobalOpInit::isReady() {
+  return m_instance->isReady();
 }
diff --git a/src/ayab/opInit.cpp b/src/ayab/opInit.cpp
@@ -65,6 +65,16 @@ void OpInit::begin() {
  * Assess whether the Finite State Machine is ready to move from state `OpInit` to `OpReady`.
  */
 void OpInit::update() {
+  if (isReady()) {
+    GlobalController::setState(GlobalOpReady::m_instance);
+  }
+}
+
+/*!
+ * \brief Assess whether the Finite State Machine is ready to move from state `OpInit` to `OpReady`.
+ * \return `true` if ready to move from state `OpInit` to `OpReady`, false otherwise.
+ */
+bool OpInit::isReady() {
 #ifdef DBG_NOMACHINE
   // TODO(who?): check if debounce is needed
   bool state = digitalRead(DBG_BTN_PIN);
@@ -97,15 +107,14 @@ void OpInit::update() {
     GlobalSolenoids::setSolenoids(SOLENOIDS_BITMASK);
     GlobalCom::send_indState(Err_t::Success);
     // move to `OpReady`
-    GlobalController::setState(GlobalOpReady::m_instance);
-    return;
+    return true;
   }
 
 #ifdef DBG_NOMACHINE
   m_prevState = state;
 #endif
   // stay in `OpInit`
-  return;
+  return false;
 }
 
 /*!

diff --git a/src/ayab/opInit.h b/src/ayab/opInit.h
@@ -29,6 +29,8 @@
 class OpInitInterface : public OpInterface {
 public:
   virtual ~OpInitInterface() = default;
+
+  virtual bool isReady() = 0;
 };
 
 // Container class for the static methods that implement the hardware test
@@ -51,6 +53,8 @@ class GlobalOpInit final {
   static void update();
   static void com(const uint8_t *buffer, size_t size);
   static void end();
+
+  static bool isReady();
 };
 
 class OpInit : public OpInitInterface {
@@ -62,6 +66,8 @@ class OpInit : public OpInitInterface {
   void com(const uint8_t *buffer, size_t size) final;
   void end() final;
 
+  bool isReady() final;
+
 private:
   Direction_t m_lastHall;
 #ifdef DBG_NOMACHINE

diff --git a/test/mocks/opInit_mock.cpp b/test/mocks/opInit_mock.cpp
@@ -68,3 +68,8 @@ void OpInit::end() {
   assert(gOpInitMock != nullptr);
   gOpInitMock->end();
 }
+
+bool OpInit::isReady() {
+  assert(gOpInitMock != nullptr);
+  return gOpInitMock->isReady();
+}
diff --git a/test/mocks/opInit_mock.h b/test/mocks/opInit_mock.h
@@ -35,6 +35,7 @@ class OpInitMock : public OpInitInterface {
   MOCK_METHOD0(update, void());
   MOCK_METHOD2(com, void(const uint8_t *buffer, size_t size));
   MOCK_METHOD0(end, void());
+  MOCK_METHOD0(isReady, bool());
 };
 
 OpInitMock *OpInitMockInstance();

diff --git a/test/test.sh b/test/test.sh
@@ -55,7 +55,12 @@ GCOVR_ARGS="--exclude-unreachable-branches \
 	    -e src/ayab/global_OpTest.cpp \
 	    -e src/ayab/global_OpReady.cpp \
 	    -e src/ayab/global_OpError.cpp \
-	    -e src/ayab/global_OpKnit.cpp"
+	    -e src/ayab/global_OpKnit.cpp \
+            -e src/ayab/global_beeper.cpp \
+            -e src/ayab/global_com.cpp \
+            -e src/ayab/global_controller.cpp \
+            -e src/ayab/global_encoders.cpp \
+            -e src/ayab/global_solenoids.cpp"
 
 if [[ $sonar -eq 1 ]]; then
   gcovr -r . $GCOVR_ARGS --sonarqube ./test/build/coverage.xml

diff --git a/test/test_OpInit.cpp b/test/test_OpInit.cpp
@@ -82,10 +82,14 @@ class OpInitTest : public ::testing::Test {
     EXPECT_CALL(*controllerMock, getDirection).WillRepeatedly(Return(dir));
     EXPECT_CALL(*controllerMock, getHallActive).WillRepeatedly(Return(hall));
     EXPECT_CALL(*controllerMock, getMachineType).WillRepeatedly(Return(Machine_t::Kh910));
+    EXPECT_CALL(*controllerMock, getState).WillRepeatedly(Return(opInit));
   }
 
   void expect_ready(bool ready) {
-    EXPECT_CALL(*controllerMock, setState).Times(ready ? 1 : 0);
+    if (ready) {
+      EXPECT_CALL(*controllerMock, getState).WillOnce(Return(opInit));
+    }
+    ASSERT_EQ(opInit->isReady(), ready);
   }
 };
 
@@ -116,11 +120,26 @@ TEST_F(OpInitTest, test_begin910) {
   opInit->begin();
 }
 
+TEST_F(OpInitTest, test_updateF) {
+  // isReady() == false
+  expect_update(get_position_past_right(Machine_t::Kh910), Direction_t::Left, Direction_t::Left);
+  EXPECT_CALL(*controllerMock, getState).WillOnce(Return(opInit));
+  EXPECT_CALL(*controllerMock, setState(opReady)).Times(0);
+  opInit->update();
+}
+
+TEST_F(OpInitTest, test_updateT) {
+  // isReady() == true
+  expect_update(get_position_past_left(Machine_t::Kh910), Direction_t::Right, Direction_t::Left);
+  EXPECT_CALL(*controllerMock, getState).WillOnce(Return(opInit));
+  EXPECT_CALL(*controllerMock, setState(opReady));
+  opInit->update();
+}
+
 TEST_F(OpInitTest, test_op_init_RLL) {
   // not ready
   expect_update(get_position_past_right(Machine_t::Kh910), Direction_t::Left, Direction_t::Left);
   expect_ready(false);
-  opInit->update();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(controllerMock));
@@ -130,7 +149,6 @@ TEST_F(OpInitTest, test_op_init_LRR) {
   // not ready
   expect_update(get_position_past_left(Machine_t::Kh910), Direction_t::Right, Direction_t::Right);
   expect_ready(false);
-  opInit->update();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(controllerMock));
@@ -141,7 +159,6 @@ TEST_F(OpInitTest, test_op_init_LRL) {
   // is passed in Right direction inside active needles.
   expect_update(get_position_past_left(Machine_t::Kh910), Direction_t::Right, Direction_t::Left);
   expect_ready(true);
-  opInit->update();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(controllerMock));
@@ -152,7 +169,6 @@ TEST_F(OpInitTest, test_op_init_XRL) {
   // is passed in Right direction inside active needles.
   expect_update(get_position_past_left(Machine_t::Kh910) - 2, Direction_t::Right, Direction_t::Left);
   expect_ready(false);
-  opInit->update();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(controllerMock));
@@ -163,7 +179,6 @@ TEST_F(OpInitTest, test_op_init_XLR) {
   // when the right Hall sensor is passed in the Left direction.
   expect_update(get_position_past_right(Machine_t::Kh910) + 2, Direction_t::Left, Direction_t::Right);
   expect_ready(false);
-  opInit->update();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(controllerMock));
@@ -174,7 +189,6 @@ TEST_F(OpInitTest, test_op_init_RLR) {
   // when the right Hall sensor is passed in the Left direction.
   expect_update(get_position_past_right(Machine_t::Kh910), Direction_t::Left, Direction_t::Right);
   expect_ready(true);
-  opInit->update();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(controllerMock));
@@ -184,7 +198,6 @@ TEST_F(OpInitTest, test_op_init_RLN) {
   // not ready
   expect_update(get_position_past_right(Machine_t::Kh910), Direction_t::Left, Direction_t::NoDirection);
   expect_ready(false);
-  opInit->update();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(controllerMock));