128 lines
4.1 KiB
C++
128 lines
4.1 KiB
C++
#include "catch2/catch.hpp"
|
|
#include "motion.h"
|
|
|
|
using namespace modules::motion;
|
|
|
|
// Perform Step() until all moves are completed, returning the number of steps performed.
|
|
// Ensure the move doesn't run forever, making the test fail reliably.
|
|
ssize_t stepUntilDone(size_t maxSteps = 100000) {
|
|
for (size_t i = 0; i != maxSteps; ++i)
|
|
if (!motion.Step())
|
|
return i;
|
|
|
|
// number of steps exceeded
|
|
return -1;
|
|
}
|
|
|
|
TEST_CASE("motion::basic", "[motion]") {
|
|
// initial state
|
|
REQUIRE(motion.QueueEmpty());
|
|
REQUIRE(motion.Position(Idler) == 0);
|
|
|
|
// enqueue a single move
|
|
motion.PlanMoveTo(Idler, 10, 1);
|
|
REQUIRE(!motion.QueueEmpty());
|
|
|
|
// perform the move
|
|
REQUIRE(stepUntilDone() == 10);
|
|
REQUIRE(motion.QueueEmpty());
|
|
|
|
// check positions
|
|
REQUIRE(motion.Position(Idler) == 10);
|
|
}
|
|
|
|
TEST_CASE("motion::dual_move_fwd", "[motion]") {
|
|
// check for configuration values that we cannot change but should match for this test
|
|
// to function as expected (maybe this should be a static_assert?)
|
|
REQUIRE(config::idler.jerk == config::selector.jerk);
|
|
|
|
// enqueue moves on two axes
|
|
REQUIRE(motion.QueueEmpty());
|
|
|
|
// ensure the same acceleration is set on both
|
|
motion.SetAcceleration(Idler, motion.Acceleration(Selector));
|
|
REQUIRE(motion.Acceleration(Idler) == motion.Acceleration(Selector));
|
|
|
|
// plan two moves at the same speed and acceleration
|
|
motion.PlanMoveTo(Idler, 10, 1);
|
|
motion.PlanMoveTo(Selector, 10, 1);
|
|
|
|
// perform the move, which should be perfectly merged
|
|
REQUIRE(stepUntilDone() == 10);
|
|
REQUIRE(motion.QueueEmpty());
|
|
|
|
// check for final axis positions
|
|
REQUIRE(motion.Position(Idler) == 10);
|
|
REQUIRE(motion.Position(Selector) == 10);
|
|
}
|
|
|
|
TEST_CASE("motion::dual_move_inv", "[motion]") {
|
|
// check for configuration values that we cannot change but should match for this test
|
|
// to function as expected (maybe this should be a static_assert?)
|
|
REQUIRE(config::idler.jerk == config::selector.jerk);
|
|
|
|
// enqueue moves on two axes
|
|
REQUIRE(motion.QueueEmpty());
|
|
|
|
// ensure the same acceleration is set on both
|
|
motion.SetAcceleration(Idler, motion.Acceleration(Selector));
|
|
REQUIRE(motion.Acceleration(Idler) == motion.Acceleration(Selector));
|
|
|
|
// set two different starting points
|
|
motion.SetPosition(Idler, 0);
|
|
motion.SetPosition(Selector, 5);
|
|
|
|
// plan two moves at the same speed and acceleration, like in the previous
|
|
// test this should *also* reduce to the same steps being performed
|
|
motion.PlanMove(Idler, 10, 1);
|
|
motion.PlanMove(Selector, -10, 1);
|
|
|
|
// perform the move, which should be perfectly merged
|
|
REQUIRE(stepUntilDone() == 10);
|
|
REQUIRE(motion.QueueEmpty());
|
|
|
|
// check for final axis positions
|
|
REQUIRE(motion.Position(Idler) == 10);
|
|
REQUIRE(motion.Position(Selector) == -5);
|
|
}
|
|
|
|
TEST_CASE("motion::dual_move_complex", "[motion]") {
|
|
// enqueue two completely different moves on two axes
|
|
REQUIRE(motion.QueueEmpty());
|
|
|
|
// set custom acceleration values
|
|
motion.SetAcceleration(Idler, 10);
|
|
motion.SetAcceleration(Selector, 20);
|
|
|
|
// plan two moves at the same speed and acceleration, like in the previous
|
|
// test: this should *also* reduce to the same steps being performed
|
|
motion.PlanMoveTo(Idler, 10, 1);
|
|
motion.PlanMoveTo(Selector, 10, 1);
|
|
|
|
// perform the move, which should take less iterations than the sum of both
|
|
REQUIRE(stepUntilDone(20));
|
|
REQUIRE(motion.QueueEmpty());
|
|
|
|
// check for final axis positions
|
|
REQUIRE(motion.Position(Idler) == 10);
|
|
REQUIRE(motion.Position(Selector) == 10);
|
|
}
|
|
|
|
TEST_CASE("motion::triple_move", "[motion]") {
|
|
// that that we can move three axes at the same time
|
|
motion.PlanMoveTo(Idler, 10, 1);
|
|
motion.PlanMoveTo(Selector, 20, 1);
|
|
motion.PlanMoveTo(Pulley, 30, 1);
|
|
|
|
// perform the move with a maximum step limit
|
|
REQUIRE(stepUntilDone(10 + 20 + 30));
|
|
|
|
// check queue status
|
|
REQUIRE(motion.QueueEmpty());
|
|
|
|
// check for final axis positions
|
|
REQUIRE(motion.Position(Idler) == 10);
|
|
REQUIRE(motion.Position(Selector) == 20);
|
|
REQUIRE(motion.Position(Pulley) == 30);
|
|
}
|