Merge branch 'clholgat/garter_carriage' of https://github.com/clholga…

…t/ayab-firmware into clholgat/garter_carriage

src/ayab/board.h

@@ -47,9 +47,6 @@ constexpr uint8_t DBG_BTN_PIN = 7; // DEBUG BUTTON
 constexpr uint8_t I2Caddr_sol1_8 = 0x0U;  ///< I2C Address of solenoids 1 - 8
 constexpr uint8_t I2Caddr_sol9_16 = 0x1U; ///< I2C Address of solenoids 9 - 16
 
-// TODO(Who?): Optimize Delay for various Arduino Models
-constexpr uint16_t START_KNITTING_DELAY = 2000U; // ms
-
 // Determine board type
 #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
 // Arduino Uno

src/ayab/global_tester.cpp

@@ -79,7 +79,7 @@ void GlobalTester::quitCmd() {
 }
 
 #ifndef AYAB_TESTS
-void GlobalTester::encoderAChange() {
-  m_instance->encoderAChange();
+void GlobalTester::encoderChange() {
+  m_instance->encoderChange();
 }
 #endif // AYAB_TESTS

src/ayab/knitter.cpp

@@ -239,8 +239,6 @@ bool Knitter::isReady() {
 void Knitter::knit() {
   if (m_firstRun) {
     m_firstRun = false;
-    // TODO(who?): optimize delay for various Arduino models
-    delay(START_KNITTING_DELAY);
     GlobalBeeper::finishedLine();
     ++m_currentLineNumber;
     reqLine(m_currentLineNumber);
@@ -398,7 +396,6 @@ bool Knitter::calculatePixelAndSolenoid() {
   // magic numbers from machine manual
   case Direction_t::Right:
     startOffset = getStartOffset(Direction_t::Left);
-
 
     // The Lace carriage is special
     // See page 7 of the 930 service manual https://mkmanuals.com/downloadable/download/sample/sample_id/27/

src/ayab/tester.cpp

@@ -155,8 +155,10 @@ void Tester::stopCmd() {
  * \brief Quit command handler.
  */
 void Tester::quitCmd() {
-  GlobalFsm::setState(OpState::init);
-  GlobalKnitter::setUpInterrupt();
+  detachInterrupt(digitalPinToInterrupt(ENC_PIN_A));
+  detachInterrupt(digitalPinToInterrupt(ENC_PIN_B));
+
+  GlobalFsm::setState(OpState::wait_for_machine);
 }
 
 /*!
@@ -190,8 +192,9 @@ void Tester::loop() {
 /*!
  * \brief Interrupt service routine for encoder A.
  */
-void Tester::encoderAChange() {
-  beep();
+void Tester::encoderChange() {
+  digitalWrite(LED_PIN_A, digitalRead(ENC_PIN_A));
+  digitalWrite(LED_PIN_B, digitalRead(ENC_PIN_B));
 }
 #endif // AYAB_TESTS
 
@@ -203,27 +206,29 @@ void Tester::encoderAChange() {
 void Tester::setUp() {
   // Print welcome message
   GlobalCom::sendMsg(AYAB_API::testRes, "AYAB Hardware Test, ");
-  snprintf(buf, BUFFER_LEN, "Firmware v%hhu", FW_VERSION_MAJ);
-  GlobalCom::sendMsg(AYAB_API::testRes, buf);
-  snprintf(buf, BUFFER_LEN, ".%hhu", FW_VERSION_MIN);
+  snprintf(buf, BUFFER_LEN, "Firmware v%hhu.%hhu.%hhu", FW_VERSION_MAJ, FW_VERSION_MIN, FW_VERSION_PATCH);
   GlobalCom::sendMsg(AYAB_API::testRes, buf);
+  if (*FW_VERSION_SUFFIX != '\0') {
+    snprintf(buf, BUFFER_LEN, "-%s", FW_VERSION_SUFFIX);
+    GlobalCom::sendMsg(AYAB_API::testRes, buf);
+  }
   snprintf(buf, BUFFER_LEN, " API v%hhu\n\n", API_VERSION);
   GlobalCom::sendMsg(AYAB_API::testRes, buf);
   helpCmd();
 
-  // attach interrupt for ENC_PIN_A(=2), interrupt #0
-  detachInterrupt(digitalPinToInterrupt(ENC_PIN_A));
 #ifndef AYAB_TESTS
-  // Attaching ENC_PIN_A, Interrupt #0
-  // This interrupt cannot be enabled until
-  // the machine type has been validated.
-  attachInterrupt(digitalPinToInterrupt(ENC_PIN_A), GlobalTester::encoderAChange, RISING);
+  // Attach interrupts for both encoder pins
+  attachInterrupt(digitalPinToInterrupt(ENC_PIN_A), GlobalTester::encoderChange, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ENC_PIN_B), GlobalTester::encoderChange, CHANGE);
 #endif // AYAB_TESTS
 
   m_autoReadOn = false;
   m_autoTestOn = false;
   m_lastTime = millis();
   m_timerEventOdd = false;
+
+  // Enable beeper so that it can be tested
+  GlobalBeeper::init(true);
 }
 
 /*!

src/ayab/tester.h

@@ -51,7 +51,7 @@ class TesterInterface {
   virtual void stopCmd() = 0;
   virtual void quitCmd() = 0;
 #ifndef AYAB_TESTS
-  virtual void encoderAChange();
+  virtual void encoderChange();
 #endif
 };
 
@@ -84,7 +84,7 @@ class GlobalTester final {
   static void stopCmd();
   static void quitCmd();
 #ifndef AYAB_TESTS
-  static void encoderAChange();
+  static void encoderChange();
 #endif
 };
 
@@ -104,7 +104,7 @@ class Tester : public TesterInterface {
   void stopCmd() final;
   void quitCmd() final;
 #ifndef AYAB_TESTS
-  void encoderAChange() final;
+  void encoderChange() final;
 #endif
 
 private:

test/test_com.cpp

@@ -249,12 +249,10 @@ TEST_F(ComTest, test_stopCmd) {
 
 TEST_F(ComTest, test_quitCmd) {
   uint8_t buffer[] = {static_cast<uint8_t>(AYAB_API::quitCmd)};
-  EXPECT_CALL(*knitterMock, setUpInterrupt);
-  EXPECT_CALL(*fsmMock, setState(OpState::init));
+  EXPECT_CALL(*fsmMock, setState(OpState::wait_for_machine));
   com->onPacketReceived(buffer, sizeof(buffer));
 
   // test expectations without destroying instance
-  ASSERT_TRUE(Mock::VerifyAndClear(knitterMock));
   ASSERT_TRUE(Mock::VerifyAndClear(fsmMock));
 }
 

test/test_fsm.cpp

@@ -215,7 +215,6 @@ class FsmTest : public ::testing::Test {
   }
 
   void expect_first_knit() {
-    EXPECT_CALL(*arduinoMock, delay(START_KNITTING_DELAY));
     EXPECT_CALL(*beeperMock, finishedLine);
     expect_reqLine();
   }

test/test_knitter.cpp

@@ -253,7 +253,6 @@ class KnitterTest : public ::testing::Test {
   }
 
   void expect_first_knit() {
-    EXPECT_CALL(*arduinoMock, delay(START_KNITTING_DELAY));
     EXPECT_CALL(*beeperMock, finishedLine);
     expect_reqLine();
   }

test/test_tester.cpp

@@ -194,12 +194,10 @@ TEST_F(TesterTest, test_autoTestCmd) {
 }
 
 TEST_F(TesterTest, test_quitCmd) {
-  EXPECT_CALL(*knitterMock, setUpInterrupt);
-  EXPECT_CALL(*fsmMock, setState(OpState::init));
+  EXPECT_CALL(*fsmMock, setState(OpState::wait_for_machine));
   tester->quitCmd();
 
   // test expectations without destroying instance
-  ASSERT_TRUE(Mock::VerifyAndClear(knitterMock));
   ASSERT_TRUE(Mock::VerifyAndClear(fsmMock));
 }