Move motion::dual_move_ramp into the separate motion::rampgen test

- Remove motion::dual_move_ramp from the Catch2 tests and reimplement
  it as a minimal c++ program for the ramp validation.
- Add a skeleton python validator to check the ramp output
- Use test "fixtures" to ensure the rampgen is run (both as a test,
  and to generate output) when the test_motion_ramp.py is requested.

tests/unit/modules/motion/CMakeLists.txt

@@ -1,19 +1,25 @@
-# define the test executable
+# common include and source directories
-add_executable(
+set(include_common ${CMAKE_SOURCE_DIR}/src/modules ${CMAKE_SOURCE_DIR}/src/hal)
-  motion_tests
+set(source_common
-  ${CMAKE_SOURCE_DIR}/src/modules/motion.cpp
+    ${CMAKE_SOURCE_DIR}/src/modules/motion.cpp ${CMAKE_SOURCE_DIR}/src/modules/speed_table.cpp
-  ${CMAKE_SOURCE_DIR}/src/modules/speed_table.cpp
+    ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp ${MODULES_STUBS_DIR}/stub_gpio.cpp
-  ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+    ${MODULES_STUBS_DIR}/stub_shr16.cpp ${MODULES_STUBS_DIR}/stub_tmc2130.cpp
-  ${MODULES_STUBS_DIR}/stub_gpio.cpp
+    )
-  ${MODULES_STUBS_DIR}/stub_shr16.cpp
-  ${MODULES_STUBS_DIR}/stub_tmc2130.cpp
-  test_motion.cpp
-  )
 
-# define required search paths
+# general motion tests
-target_include_directories(
+add_executable(motion_tests ${source_common} test_motion.cpp)
-  motion_tests PUBLIC ${CMAKE_SOURCE_DIR}/src/modules ${CMAKE_SOURCE_DIR}/src/hal
+target_include_directories(motion_tests PUBLIC ${include_common})
-  )
-
-# tell build system about the test case
 add_catch_test(motion_tests)
+
+# ramp generation tests
+add_executable(rampgen ${source_common} rampgen.cpp)
+target_include_directories(rampgen PUBLIC ${include_common})
+
+add_test(NAME motion::rampgen COMMAND rampgen ramp_data.txt)
+add_test(NAME motion::test_motion_ramp COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/test_motion_ramp.py
+                                               ramp_data.txt
+         )
+
+# define the ramp_data fixture to chain tests
+set_tests_properties(motion::test_motion_ramp PROPERTIES FIXTURES_REQUIRED motion::ramp_data)
+set_tests_properties(motion::rampgen PROPERTIES FIXTURES_SETUP motion::ramp_data)

tests/unit/modules/motion/rampgen.cpp

@@ -0,0 +1,61 @@
+#include <cstdio>
+#include <sysexits.h>
+
+#include "motion.h"
+using namespace modules::motion;
+
+int main(int argc, const char *argv[]) {
+    const char *output = argv[1];
+    if (!argv[1]) {
+        fprintf(stderr, "Usage: %s <output>\n", argv[0]);
+        return EX_USAGE;
+    }
+
+    FILE *fd = fopen(output, "w");
+    if (!fd) {
+        fprintf(stderr, "%s: can't open output file %s: ", argv[0], output);
+        perror(NULL);
+        return EX_OSERR;
+    }
+
+    // common settings
+    const int idlerSteps = 100;
+    const int selectorSteps = 80;
+    const int maxFeedRate = 1000;
+
+    for (int accel = 2000; accel <= 50000; accel *= 2) {
+        // first axis using nominal values
+        motion.SetPosition(Idler, 0);
+        motion.SetAcceleration(Idler, accel);
+        motion.PlanMoveTo(Idler, idlerSteps, maxFeedRate);
+
+        fprintf(fd, "[{\"steps\": %d, \"accel\": %d, \"maxrate\": %d}, ",
+            idlerSteps, accel, maxFeedRate);
+
+        // second axis finishes slightly sooner at triple acceleration to maximize the
+        // aliasing effects
+        int accel_3 = accel * 3;
+        motion.SetPosition(Selector, 0);
+        motion.SetAcceleration(Selector, accel_3);
+        motion.PlanMoveTo(Selector, selectorSteps, maxFeedRate);
+
+        fprintf(fd, "{\"steps\": %d, \"accel\": %d, \"maxrate\": %d}]\n",
+            selectorSteps, accel_3, maxFeedRate);
+
+        // step and output time, interval and positions
+        unsigned long ts = 0;
+        st_timer_t next;
+        do {
+            next = motion.Step();
+            pos_t pos_idler = motion.CurPosition(Idler);
+            pos_t pos_selector = motion.CurPosition(Selector);
+
+            fprintf(fd, "%lu %u %d %d\n", ts, next, pos_idler, pos_selector);
+
+            ts += next;
+        } while (next);
+        fprintf(fd, "\n\n");
+    }
+
+    return EX_OK;
+}

tests/unit/modules/motion/test_motion.cpp

@@ -164,46 +164,3 @@ TEST_CASE("motion::triple_move", "[motion]") {
     REQUIRE(motion.Position(Selector) == 20);
     REQUIRE(motion.Position(Pulley) == 30);
 }
-
-TEST_CASE("motion::dual_move_ramp", "[motion]") {
-    // TODO: output ramps still to be checked
-    const int idlerSteps = 100;
-    const int selectorSteps = 80;
-    const int maxFeedRate = 1000;
-
-    for (int accel = 2000; accel <= 50000; accel *= 2) {
-        REQUIRE(motion.QueueEmpty());
-
-        // first axis using nominal values
-        motion.SetPosition(Idler, 0);
-        motion.SetAcceleration(Idler, accel);
-        motion.PlanMoveTo(Idler, idlerSteps, maxFeedRate);
-
-        // second axis finishes slightly sooner at triple acceleration to maximize the
-        // aliasing effects
-        motion.SetPosition(Selector, 0);
-        motion.SetAcceleration(Selector, accel * 3);
-        motion.PlanMoveTo(Selector, selectorSteps, maxFeedRate);
-
-        // step and output time, interval and positions
-        unsigned long ts = 0;
-        st_timer_t next;
-        do {
-            next = motion.Step();
-            pos_t pos_idler = motion.CurPosition(Idler);
-            pos_t pos_selector = motion.CurPosition(Selector);
-
-            printf("%lu %u %d %d\n", ts, next, pos_idler, pos_selector);
-
-            ts += next;
-        } while (next);
-        printf("\n\n");
-
-        // check queue status
-        REQUIRE(motion.QueueEmpty());
-
-        // check final position
-        REQUIRE(motion.Position(Idler) == idlerSteps);
-        REQUIRE(motion.Position(Selector) == selectorSteps);
-    }
-}

tests/unit/modules/motion/test_motion_ramp.py

@@ -0,0 +1,5 @@
+#!/usr/bin/env python3
+import numpy as np
+import pandas as pd
+
+exit(0)