65 lines
2.8 KiB
C++
65 lines
2.8 KiB
C++
#include "main_loop_stub.h"
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#include "../../modules/stubs/stub_adc.h"
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#include "../../../../src/modules/buttons.h"
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#include "../../../../src/modules/finda.h"
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#include "../../../../src/modules/fsensor.h"
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#include "../../../../src/modules/globals.h"
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#include "../../../../src/modules/idler.h"
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#include "../../../../src/modules/leds.h"
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#include "../../../../src/modules/motion.h"
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#include "../../../../src/modules/permanent_storage.h"
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#include "../../../../src/modules/selector.h"
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#include <new> // bring in placement new
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logic::CommandBase *currentCommand = nullptr;
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// just like in the real FW, step all the known automata
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uint16_t millis = 0;
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void main_loop() {
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modules::buttons::buttons.Step(millis);
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modules::leds::leds.Step(millis);
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modules::finda::finda.Step(millis);
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modules::fsensor::fsensor.Step(millis);
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modules::idler::idler.Step();
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modules::selector::selector.Step();
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modules::motion::motion.Step();
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if (currentCommand)
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currentCommand->Step();
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++millis;
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}
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void ForceReinitAllAutomata() {
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// This woodoo magic with placement new is just a forced reinit of global instances of firmware's state machines
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// just for the purposes of separate unit tests. Each unit test needs a "freshly booted firmware" and since all unit tests
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// in the test binary share the same global data structures, we need some way of making them fresh each time.
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//
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// This approach mimics the firmware behavior closely as the firmware initializes its global data structures
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// on its very start once (by copying static init data from PROGMEM into RAM) - and we need exactly this approach in the unit tests.
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//
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// There are multiple other approaches, one of them is adding a special Init() function into each of these state machines.
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// As this approach might look like a standard and safer way of doing stuff, it has several drawbacks, especially
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// it needs an explicit call to the Init function every time an object like this is created - this can have negative influence on firmware's code size
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new (&modules::buttons::buttons) modules::buttons::Buttons();
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new (&modules::leds::leds) modules::leds::LEDs();
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new (&modules::finda::finda) modules::finda::FINDA();
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new (&modules::fsensor::fsensor) modules::fsensor::FSensor();
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new (&modules::idler::idler) modules::idler::Idler();
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new (&modules::selector::selector) modules::selector::Selector();
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new (&modules::motion::motion) modules::motion::Motion();
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// no buttons involved ;)
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hal::adc::ReinitADC(0, hal::adc::TADCData({ 1023 }), 1);
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// finda OFF
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hal::adc::ReinitADC(1, hal::adc::TADCData({ 0 }), 1);
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// let's assume we have the filament NOT loaded and active slot 0
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modules::globals::globals.SetFilamentLoaded(false);
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modules::globals::globals.SetActiveSlot(0);
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}
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