improv how sampleTime and motionCtrl work together

lib/motion/motionctrl.cpp

@@ -241,8 +241,9 @@ step motionCtrl::calcNextStepperMotorSignals() {
  while (true) {
  if (theSampleTime.isBeyondEndOfMotion()) {
  if (theMotionBuffer.getLevel() > 1) {
- theSampleTime.initializeNextMotion();
+ theSampleTime.cleanupCurrentMotion();
  theMotionBuffer.pop();
+ theSampleTime.initializeNextMotion(theMotionBuffer.getHead().speedProfile.duration, theMotionBuffer.getHead().speedProfile.tStop);
  theEventBuffer.pushEvent(event::motionCompleted);
  } else {
  theMotionBuffer.pop();
@@ -263,4 +264,5 @@ step motionCtrl::calcNextStepperMotorSignals() {
  return theStepSignals.output();
  }
  }
-}
+}
+

lib/motion/motionctrl.drawio

@@ -1 +1 @@
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lib/motion/motionctrl.h

@@ -38,19 +38,17 @@ class motionCtrl {
 #endif
  motionState theMotionCtrlState = motionState::stopped; //
  overrides theOverrides;
- sampleTime theSampleTime = sampleTime(1); // TODO : set a correct sample interval
- motionBuffer theMotionBuffer;  //
- stepSignals theStepSignals;  //
+ sampleTime theSampleTime;
+ motionBuffer theMotionBuffer; //
+ stepSignals theStepSignals; //
 
  point currentPosition;
  point nextPosition;
 
  float vJunction(uint32_t left, uint32_t right) const; //
- // void positionInSteps(); //
- // void positionInMm(uint32_t anAxis, float sNow, motionTrajectory& currentMotionTrajectory); //
- bool needStepForward(uint32_t anAxis); //
- bool needStepBackward(uint32_t anAxis); //
- void optimizePair(int32_t junctionIndex); //
- void move(); // from currentPosition to newPosition
+ bool needStepForward(uint32_t anAxis); //
+ bool needStepBackward(uint32_t anAxis); //
+ void optimizePair(int32_t junctionIndex); //
+ void move(); // from currentPosition to newPosition
  bool isOptimal{false};
 };

lib/motion/sampletime.cpp

@@ -1,8 +1,12 @@
+#include <limits>
 #include "sampletime.h"
 
-sampleTime::sampleTime(const float theMinStepPulseWidth) : minStepPulseWidth(theMinStepPulseWidth) {
+sampleTime::sampleTime() {
 }
 
+// sampleTime::sampleTime(const float theMinStepPulseWidth) : minStepPulseWidth(theMinStepPulseWidth) {
+// }
+
 void sampleTime::next() {
  sampleIndex++;
  timeInMotion = (static_cast<float>(sampleIndex) * minStepPulseWidth) + sampleZeroOffset;
@@ -12,6 +16,7 @@ void sampleTime::initialize() {
  sampleIndex = 0;
  sampleZeroOffset = 0.0F;
  timeInMotion = 0.0F;
+ motionTStop = std::numeric_limits<float>::infinity();
 }
 
 bool sampleTime::isBeyondEndOfMotion() const {
@@ -22,10 +27,15 @@ bool sampleTime::isBeyondStop() const {
  return (timeInMotion > motionTStop);
 }
 
-void sampleTime::initializeNextMotion() {
- sampleIndex = 0;
+void sampleTime::cleanupCurrentMotion() {
  sampleZeroOffset = timeInMotion - motionDuration;
- timeInMotion = sampleZeroOffset;
+}
+
+void sampleTime::initializeNextMotion(float someMotionDuration, float someStopTime) {
+ sampleIndex = 0;
+ motionDuration = someMotionDuration;
+ motionTStop = someStopTime;
+ timeInMotion = sampleZeroOffset;
 }
 
 void sampleTime::setMotionTStop(float someStopTime) {
@@ -34,3 +44,7 @@ void sampleTime::setMotionTStop(float someStopTime) {
 void sampleTime::setMotionDuration(float someMotionDuration) {
  motionDuration = someMotionDuration;
 }
+
+void sampleTime::setminStepPulseWidth(const float theMinStepPulseWidth) {
+ minStepPulseWidth = theMinStepPulseWidth;
+}

lib/motion/sampletime.h

@@ -10,14 +10,17 @@
 
 class sampleTime {
  public:
- sampleTime(const float theMinStepPulseWidth); // constructor
- void next(); // calculate the position of the next sampling point
- void initialize(); //
- bool isBeyondEndOfMotion() const; //
- bool isBeyondStop() const; //
- void initializeNextMotion(); //
- void setMotionTStop(float someStopTime);
- void setMotionDuration(float someMotionDuration);
+ sampleTime(); // constructor
+ // sampleTime(const float theMinStepPulseWidth); // constructor
+ void next(); // calculate the position of the next sampling point
+ void initialize(); //
+ bool isBeyondEndOfMotion() const; //
+ bool isBeyondStop() const; //
+ void cleanupCurrentMotion(); //
+ void initializeNextMotion(float someMotionDuration, float someStopTime); //
+ void setMotionTStop(float someStopTime); //
+ void setMotionDuration(float someMotionDuration); //
+ void setminStepPulseWidth(const float theMinStepPulseWidth); //
 
 #ifndef unitTesting
  private:
@@ -28,5 +31,5 @@ class sampleTime {
  uint32_t sampleIndex{0}; // zero-based index of sampling points inside the current motion
  float motionTStop{0.0F}; // time after which the motion comes to a stop [s]
  float motionDuration{0.0F}; // duration [s] of the complete motion
- const float minStepPulseWidth; // duration [s] of a single discrete timeTick, equals the time [s] between the sampling points
+ float minStepPulseWidth{1.0F}; // duration [s] of a single discrete timeTick, equals the time [s] between the sampling points
 };

test/native/test_motion_control/motioncontrol_tests.cpp

@@ -4,6 +4,7 @@
 #include "machineproperties.h" // motionControl relies on an external dependency : there must be a global instance of machineProperties where it can read settings/properties
 #include "eventbuffer.h" // motionControl relies on an external dependency : there must be a global instance of eventBuffer where it can notify/push events that occured
 #include <math.h>
+#include <limits>
 
 // ----------------------------------
 // --- to be tested API ---
@@ -42,6 +43,7 @@ void setUp(void) {
  theMachineProperties.motors.dMax[2] = -1.0f;
  theMachineProperties.motors.vMax[2] = 1.0f;
 }
+
 void tearDown(void) {} // after test
 
 void initialize() {
@@ -57,6 +59,31 @@ void initialize() {
  }
 }
 
+void nextStep_notRunning() {
+ step aStep;
+ motionCtrl theMotionCtrl;
+ theMotionCtrl.theStepSignals.setMaxTicksSinceLastOutput(maxTicksSinceLastOutput);
+
+ aStep = theMotionCtrl.calcNextStepperMotorSignals();
+ TEST_ASSERT_EQUAL(0U, aStep.signals); // we should get default stepSignals..
+ TEST_ASSERT_EQUAL(maxTicksSinceLastOutput, aStep.timeBefore); //
+ TEST_ASSERT_EQUAL(0U, theMotionCtrl.theSampleTime.sampleIndex); // and the sampleTime should not proceed
+}
+
+void nextStep_emptyMotionBuffer() {
+ step aStep;
+ motionCtrl theMotionCtrl;
+ theMotionCtrl.theStepSignals.setMaxTicksSinceLastOutput(maxTicksSinceLastOutput);
+
+ theMotionCtrl.theMotionCtrlState = motionState::running;
+
+ aStep = theMotionCtrl.calcNextStepperMotorSignals();
+ TEST_ASSERT_EQUAL(0U, aStep.signals); // we should get default stepSignals..
+ TEST_ASSERT_EQUAL(maxTicksSinceLastOutput, aStep.timeBefore); //
+ TEST_ASSERT_EQUAL(0U, theMotionCtrl.theSampleTime.sampleIndex); // and the sampleTime should be reset to zeroes
+ TEST_ASSERT_EQUAL(motionState::stopped, theMotionCtrl.getState());
+}
+
 void test_calcNextPositionInMm() {
  motionCtrl theMotionCtrl;
  simplifiedMotion aSimpleMotion;
@@ -98,46 +125,31 @@ void test_vJunction() {
  TEST_FAIL_MESSAGE("missing test");
 }
 
-void test_calcNextPositionInSteps() {
- TEST_FAIL_MESSAGE("missing test");
-}
 
-void nextStep_notRunning() {
- step aStep;
- motionCtrl theMotionCtrl;
- theMotionCtrl.theStepSignals.setMaxTicksSinceLastOutput(maxTicksSinceLastOutput);
 
- aStep = theMotionCtrl.calcNextStepperMotorSignals();
- TEST_ASSERT_EQUAL(0U, aStep.signals); // we should get default stepSignals..
- TEST_ASSERT_EQUAL(maxTicksSinceLastOutput, aStep.timeBefore); //
- TEST_ASSERT_EQUAL(0U, theMotionCtrl.theSampleTime.sampleIndex); // and the sampleTime should not proceed
-}
+int main(int argc, char **argv) {
+ UNITY_BEGIN();
+ RUN_TEST(initialize);
 
-void nextStep_emptyMotionBuffer() {
- step aStep;
- motionCtrl theMotionCtrl;
- theMotionCtrl.theStepSignals.setMaxTicksSinceLastOutput(maxTicksSinceLastOutput);
-
- theMotionCtrl.theMotionCtrlState = motionState::running;
+ // --- Testing generation of stepSignals ---
 
- aStep = theMotionCtrl.calcNextStepperMotorSignals();
- TEST_ASSERT_EQUAL(0U, aStep.signals); // we should get default stepSignals..
- TEST_ASSERT_EQUAL(maxTicksSinceLastOutput, aStep.timeBefore); //
- TEST_ASSERT_EQUAL(0U, theMotionCtrl.theSampleTime.sampleIndex); // and the sampleTime should be reset to zeroes
- TEST_ASSERT_EQUAL(motionState::stopped, theMotionCtrl.getState());
+ RUN_TEST(nextStep_notRunning); // 1. output defaults when empty buffer
+ RUN_TEST(nextStep_emptyMotionBuffer); //
 
-}
+ // 2. output defaults when non-empty buffer but stopped
+ // 3. output steps when running and motionItems in the buffer
+ // 4. proceed to next motionItem after completing the current one
+ // 5. go to Stopped after completing last motionItem
+ // 6. go to Stopped after passing tStop
+ // 7. time should proceed only when not stopped = running or stopping
+ // 8. stepsignals should always proceed
 
-int main(int argc, char **argv) {
- UNITY_BEGIN();
- // RUN_TEST(initialize);
- RUN_TEST(nextStep_notRunning);
- RUN_TEST(nextStep_emptyMotionBuffer);
  // RUN_TEST(test_calcNextPositionInMm);
 
- // RUN_TEST(test_optimize);
- // RUN_TEST(test_optimizePair);
- // RUN_TEST(test_vJunction);
- // RUN_TEST(test_calcNextPositionInSteps);
+ // --- Testing motionBuffer optimization ---
+
+ RUN_TEST(test_optimize);
+ RUN_TEST(test_optimizePair);
+ RUN_TEST(test_vJunction);
  UNITY_END();
 }