Test code

diff --git a/avr/test/Makefile b/avr/test/Makefile
index 6327058e11500fa14c74ef889efc647a0d5cd5ab..93aecd10c93a0b0e42134149f5ef895d918a2727 100644 (file)
--- a/avr/test/Makefile
+++ b/avr/test/Makefile
@@ -15,14 +15,14 @@ all: $(TESTS)
 planner-test: $(PLANNER_TEST_SRC)
        gcc -o $@ $(PLANNER_TEST_SRC) $(CFLAGS) $(LDFLAGS)
 
-test: planner-test
-       ./$< < test.gc
+%.csv: %.gc planner-test
+       ./planner-test < $< | grep -E '^-?[0-9.]+,'
 
-csv: planner-test
-       @$(MAKE) -s test | grep -E '^-?[0-9.]+,'
+%-test: %.gc planner-test
+       ./planner-test < $<
 
-plot: planner-test
-       @$(MAKE) -s csv | ./plot_velocity.py
+%-plot: %.gc planner-test
+       ./planner-test < $< | grep -E '^-?[0-9.]+,' | ./plot.py
 
 # Clean
 tidy:
@@ -31,7 +31,7 @@ tidy:
 clean: tidy
        rm -rf $(TESTS)
 
-.PHONY: tidy clean all test csv plot
+.PHONY: tidy clean all
 
 # Dependencies
 -include $(shell mkdir -p .dep) $(wildcard .dep/*)

diff --git a/avr/test/arc.gc b/avr/test/arc.gc
new file mode 100644 (file)
index 0000000..72b612f
--- /dev/null
+++ b/avr/test/arc.gc
@@ -0,0 +1,10 @@
+$resume
+
+$0vm=10000
+$1vm=10000
+$2vm=10000
+$0jm=50
+$1jm=50
+$2jm=50
+
+G3 I2 J2 F10000

diff --git a/avr/test/hal.c b/avr/test/hal.c
index 4f7d90de3d9faf47163a09e44a1e39006d486e61..7dc87a29d0174b7aafbe665c3cc19d0cbfc69ffb 100644 (file)
--- a/avr/test/hal.c
+++ b/avr/test/hal.c
@@ -211,11 +211,14 @@ stat_t st_prep_line(float time, const float target[]) {
   DEBUG_CALL("%f, (%f, %f, %f, %f)",
              time, target[0], target[1], target[2], target[3]);
 
-  for (int i = 0; i < MOTORS; i++)
+  float p[MOTORS] = {0, 0, 0, 0};
+
+  for (int i = 0; i < MOTORS; i++) {
     motor_position[i] = target[i];
+    p[i] = target[i] / motor_get_steps_per_unit(i);
+  }
 
-  printf("%0.10f, %0.10f, %0.10f, %0.10f\n",
-         time, motor_position[0], motor_position[1], motor_position[2]);
+  printf("%0.10f, %0.10f, %0.10f, %0.10f\n", time, p[0], p[1], p[2]);
 
   return STAT_OK;
 }

diff --git a/avr/test/line.gc b/avr/test/line.gc
new file mode 100644 (file)
index 0000000..20695cc
--- /dev/null
+++ b/avr/test/line.gc
@@ -0,0 +1,16 @@
+$resume
+
+$0vm=10000
+$1vm=10000
+$2vm=10000
+$0jm=50
+$1jm=50
+$2jm=50
+
+G0 X500Y500
+G0 X0Y0
+G0 X-500Y0
+G0 X-500Y-500
+
+G0 Z-100
+G0 Z0

diff --git a/avr/test/planner-test.c b/avr/test/planner-test.c
index 7e9038b5ab49b599d8bb017c712ca73b0711ac6c..78206eecb6bd2f513601b61eddaedf54d325a334 100644 (file)
--- a/avr/test/planner-test.c
+++ b/avr/test/planner-test.c
@@ -28,6 +28,7 @@
 #include "axis.h"
 #include "machine.h"
 #include "command.h"
+#include "plan/arc.h"
 #include "plan/planner.h"
 #include "plan/exec.h"
 #include "plan/state.h"
@@ -43,12 +44,18 @@ int main(int argc, char *argv[]) {
 
   stat_t status = STAT_OK;
 
-  while (!feof(stdin)) {
-    mp_state_callback();
-    command_callback();
-  }
-
   while (true) {
+    mach_arc_callback();          // arc generation runs
+
+    bool reading = !feof(stdin);
+
+    if (reading && mp_queue_get_room()) {
+      mp_state_callback();
+      command_callback();
+
+      if (mp_queue_get_room()) continue;
+    }
+
     status = mp_exec_move();
     printf("EXEC: %s\n", status_to_pgmstr(status));
 
@@ -66,7 +73,7 @@ int main(int argc, char *argv[]) {
       printf("ERROR: %s\n", status_to_pgmstr(status));
     }
 
-    break;
+    if (!reading) break;
   }
 
   printf("STATE: %s\n", mp_get_state_pgmstr(mp_get_state()));

diff --git a/avr/test/plot.py b/avr/test/plot.py
new file mode 100755 (executable)
index 0000000..28fc6c5
--- /dev/null
+++ b/avr/test/plot.py
@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+
+import sys
+import csv
+import matplotlib.pyplot as plt
+import numpy as np
+import math
+
+
+def compute_velocity(rows):
+    p = [0, 0, 0]
+
+    for row in rows:
+        t = float(row[0])
+        d = 0.0
+
+        for i in range(3):
+            x = float(row[i + 1]) - p[i]
+            d += x * x
+            p[i] = float(row[i + 1])
+
+        d = math.sqrt(d)
+
+        yield d / t
+
+
+time_step = 0.005
+
+data = list(csv.reader(sys.stdin))
+
+velocity = list(compute_velocity(data))
+acceleration = np.diff(velocity)
+jerk = np.diff(acceleration)
+
+t = np.cumsum([float(row[0]) for row in data])
+x = [float(row[1]) for row in data]
+y = [float(row[2]) for row in data]
+z = [float(row[3]) for row in data]
+
+rows = 3
+row = 1
+if np.sum(x): rows += 1
+if np.sum(y): rows += 1
+if np.sum(z): rows += 1
+
+def next_subplot():
+    global row
+    plt.subplot(rows * 100 + 10 + row)
+    row += 1
+
+if np.sum(x):
+    next_subplot()
+    plt.title('X')
+    plt.plot(t, x, 'r')
+    plt.ylabel(r'$mm$')
+
+if np.sum(y):
+    next_subplot()
+    plt.title('X')
+    plt.title('Y')
+    plt.plot(t, [row[2] for row in data], 'g')
+    plt.ylabel(r'$mm$')
+
+if np.sum(z):
+    next_subplot()
+    plt.title('Z')
+    plt.plot(t, [row[3] for row in data], 'b')
+    plt.ylabel(r'$mm$')
+
+next_subplot()
+plt.title('Velocity')
+plt.plot(t, velocity, 'g')
+plt.ylabel(r'$\frac{mm}{min}$')
+
+next_subplot()
+plt.title('Acceleration')
+plt.plot(t[1:], acceleration, 'b')
+plt.ylabel(r'$\frac{mm}{min^2}$')
+
+next_subplot()
+plt.title('Jerk')
+plt.plot(t[2:], jerk, 'r')
+plt.ylabel(r'$\frac{mm}{min^3}$')
+plt.xlabel('Seconds')
+
+plt.tight_layout()
+plt.subplots_adjust(hspace = 0.5)
+mng = plt.get_current_fig_manager()
+mng.resize(*mng.window.maxsize())
+plt.show()

diff --git a/avr/test/short.gc b/avr/test/short.gc
new file mode 100644 (file)
index 0000000..1ba1685
--- /dev/null
+++ b/avr/test/short.gc
@@ -0,0 +1,59 @@
+$resume
+
+$0vm=10000
+$1vm=10000
+$2vm=10000
+$0jm=50
+$1jm=50
+$2jm=50
+
+G0 X0.0
+G0 X0.1
+G0 X0.2
+G0 X0.3
+G0 X0.4
+G0 X0.5
+G0 X0.6
+G0 X0.7
+G0 X0.8
+G0 X0.9
+G0 X1.0
+G0 X1.1
+G0 X1.2
+G0 X1.3
+G0 X1.4
+G0 X1.5
+G0 X1.6
+G0 X1.7
+G0 X1.8
+G0 X1.9
+G0 X2.0
+G0 X2.1
+G0 X2.2
+G0 X2.3
+G0 X2.4
+G0 X2.5
+G0 X2.6
+G0 X2.7
+G0 X2.8
+G0 X2.9
+G0 X3.0
+G0 X3.1
+G0 X3.2
+G0 X3.3
+G0 X3.4
+G0 X3.5
+G0 X3.6
+G0 X3.7
+G0 X3.8
+G0 X3.9
+G0 X4.0
+G0 X4.1
+G0 X4.2
+G0 X4.3
+G0 X4.4
+G0 X4.5
+G0 X4.6
+G0 X4.7
+G0 X4.8
+G0 X4.9

diff --git a/avr/test/test.gc b/avr/test/test.gc
deleted file mode 100644 (file)
index 20695cc..0000000
--- a/avr/test/test.gc
+++ /dev/null
@@ -1,16 +0,0 @@
-$resume
-
-$0vm=10000
-$1vm=10000
-$2vm=10000
-$0jm=50
-$1jm=50
-$2jm=50
-
-G0 X500Y500
-G0 X0Y0
-G0 X-500Y0
-G0 X-500Y-500
-
-G0 Z-100
-G0 Z0