move first run from knit() to begin()

t0mpr1c3 · Oct 4, 2023 · 2156789 · 2156789
1 parent 3c82e46
commit 2156789
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Showing 4 changed files with 52 additions and 64 deletions.
diff --git a/src/ayab/opKnit.cpp b/src/ayab/opKnit.cpp
@@ -36,13 +36,6 @@
 #include "opReady.h"
 #include "opKnit.h"
 
-#ifdef CLANG_TIDY
-// clang-tidy doesn't find these macros for some reason,
-// no problem when building or testing though.
-constexpr uint8_t UINT8_MAX = 0xFFU;
-constexpr uint16_t UINT16_MAX = 0xFFFFU;
-#endif
-
 /*!
  * \brief enum OpState
  * \return OpState_t::Knit
@@ -69,7 +62,6 @@ void OpKnit::init() {
   m_currentLineNumber = 0U;
   m_lastLineFlag = false;
   m_sOldPosition = 0U;
-  m_firstRun = true;
   m_workedOnLine = false;
 #ifdef DBG_NOMACHINE
   m_prevState = false;
@@ -85,6 +77,12 @@ void OpKnit::init() {
 void OpKnit::begin() {
   GlobalEncoders::init(GlobalController::getMachineType());
   GlobalEncoders::setUpInterrupt();
+
+  // first run
+  // TODO(who?): optimize delay for various Arduino models
+  delay(START_KNITTING_DELAY);
+  GlobalBeeper::finishedLine();
+  reqLine(0);
 }
 
 /*!
@@ -107,7 +105,11 @@ void OpKnit::com(const uint8_t *buffer, size_t size) {
     GlobalCom::h_reqTest();
     break;
 
-  // FIXME needs to be a `Cancel` command in the API that resets state from `OpKnit` to `OpInit`
+  // Resets state from `OpKnit` to `OpInit`
+  case static_cast<uint8_t>(API_t::quitCmd):
+    GlobalCom::h_quitCmd();
+    break;
+
   default:
     GlobalCom::h_unrecognized();
     break;
@@ -154,8 +156,7 @@ Err_t OpKnit::startKnitting(uint8_t startNeedle,
   m_continuousReportingEnabled = continuousReportingEnabled;
 
   // reset variables to start conditions
-  m_currentLineNumber = UINT8_MAX; // because counter will
-                                   // be incremented before request
+  m_currentLineNumber = 0;
   m_lineRequested = false;
   m_lastLineFlag = false;
 
@@ -171,15 +172,6 @@ Err_t OpKnit::startKnitting(uint8_t startNeedle,
  * \brief Function that is repeatedly called during state `OpKnit`
  */
 void OpKnit::knit() {
-  if (m_firstRun) {
-    m_firstRun = false;
-    // TODO(who?): optimize delay for various Arduino models
-    delay(START_KNITTING_DELAY);
-    GlobalBeeper::finishedLine();
-    ++m_currentLineNumber;
-    reqLine(m_currentLineNumber);
-  }
-
 #ifdef DBG_NOMACHINE
   // TODO(who?): check if debounce is needed
   bool state = digitalRead(DBG_BTN_PIN);

diff --git a/src/ayab/opKnit.h b/src/ayab/opKnit.h
@@ -105,7 +105,6 @@ class OpKnit : public OpKnitInterface {
   bool m_lastLineFlag;
 
   uint8_t m_sOldPosition;
-  bool m_firstRun;
   bool m_workedOnLine;
 #ifdef DBG_NOMACHINE
   bool m_prevState;

diff --git a/test/test_OpKnit.cpp b/test/test_OpKnit.cpp
@@ -225,14 +225,7 @@ class OpKnitTest : public ::testing::Test {
     controller->update();
   }
 
-  void expected_update_knit(bool first) {
-    if (first) {
-      get_to_knit(Machine_t::Kh910);
-      expect_first_knit();
-      //EXPECT_CALL(*arduinoMock, digitalWrite(LED_PIN_A, HIGH)); // green LED on
-      expected_update();
-      return;
-    }
+  void expected_update_knit() {
     ASSERT_EQ(controller->getState(), opKnit);
     //EXPECT_CALL(*arduinoMock, digitalWrite(LED_PIN_A, HIGH)); // green LED on
     expected_update();
@@ -377,15 +370,15 @@ TEST_F(OpKnitTest, test_startKnitting_failures) {
 }
 
 TEST_F(OpKnitTest, test_setNextLine) {
+  get_to_knit(Machine_t::Kh910);
+
   // set `m_lineRequested`
   ASSERT_EQ(opKnit->setNextLine(1), false);
 
-  expected_update_knit(true);
-
   // outside of the active needles
   expected_cacheISR(NUM_NEEDLES[static_cast<uint8_t>(Machine_t::Kh910)] + END_OF_LINE_OFFSET_R[static_cast<uint8_t>(Machine_t::Kh910)] + 1 + opKnit->getStartOffset(Direction_t::Left));
   EXPECT_CALL(*solenoidsMock, setSolenoid).Times(1);
-  expected_update_knit(false);
+  expected_update_knit();
 
   // wrong line number
   EXPECT_CALL(*beeperMock, finishedLine).Times(0);
@@ -418,30 +411,31 @@ TEST_F(OpKnitTest, test_knit_Kh910) {
   const uint8_t STOP_NEEDLE = NUM_NEEDLES[static_cast<uint8_t>(Machine_t::Kh910)] - 1;
   opKnit->startKnitting(START_NEEDLE, STOP_NEEDLE, pattern, true);
   //EXPECT_CALL(*arduinoMock, digitalWrite(LED_PIN_A, LOW)); // green LED off
-  expected_update();
-
-  // first knit
   expect_first_knit();
-  expect_indState();
-  expected_update_knit(false);
+  expected_update();
 
   // no useful position calculated by `calculatePixelAndSolenoid()`
   expected_cacheISR(100, Direction_t::NoDirection, Direction_t::Right, BeltShift::Shifted, Carriage_t::Knit);
   EXPECT_CALL(*solenoidsMock, setSolenoid).Times(0);
   expect_indState();
-  expected_update_knit(false);
+  expected_update_knit();
 
   // don't set `m_workedonline` to `true`
   const uint8_t OFFSET = END_OF_LINE_OFFSET_R[static_cast<uint8_t>(Machine_t::Kh910)];
   expected_cacheISR(8 + STOP_NEEDLE + OFFSET);
   EXPECT_CALL(*solenoidsMock, setSolenoid);
   expect_indState();
-  expected_update_knit(false);
+  expected_update_knit();
 
   expected_cacheISR(START_NEEDLE);
   EXPECT_CALL(*solenoidsMock, setSolenoid);
   expect_indState();
-  expected_update_knit(false);
+  expected_update_knit();
+
+  // cancel
+  EXPECT_CALL(*comMock, h_quitCmd);
+  const uint8_t buffer[] = {static_cast<uint8_t>(API_t::quitCmd)};
+  opKnit->com(buffer, 1);
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(solenoidsMock));
@@ -462,36 +456,32 @@ TEST_F(OpKnitTest, test_knit_Kh270) {
   const uint8_t STOP_NEEDLE = NUM_NEEDLES[static_cast<uint8_t>(Machine_t::Kh270)] - 1;
   opKnit->startKnitting(START_NEEDLE, STOP_NEEDLE, pattern, true);
   //EXPECT_CALL(*arduinoMock, digitalWrite(LED_PIN_A, LOW));
+  expect_first_knit();
   expected_update();
 
   // first knit
-  expect_first_knit();
-  expect_indState();
-  expected_update_knit(false);
-
-  // second knit
   expected_cacheISR(START_NEEDLE);
   expect_indState();
   EXPECT_CALL(*solenoidsMock, setSolenoid);
-  expected_update_knit(false);
+  expected_update_knit();
 
   // no useful position calculated by `calculatePixelAndSolenoid()`
   expected_cacheISR(60, Direction_t::NoDirection, Direction_t::Right, BeltShift::Shifted, Carriage_t::Knit);
   EXPECT_CALL(*solenoidsMock, setSolenoid).Times(0);
   expect_indState();
-  expected_update_knit(false);
+  expected_update_knit();
 
   // don't set `m_workedonline` to `true`
   const uint8_t OFFSET = END_OF_LINE_OFFSET_R[static_cast<uint8_t>(Machine_t::Kh270)];
   expected_cacheISR(8 + STOP_NEEDLE + OFFSET, Direction_t::Right, Direction_t::Left, BeltShift::Regular, Carriage_t::Knit);
   EXPECT_CALL(*solenoidsMock, setSolenoid);
   expect_indState();
-  expected_update_knit(false);
+  expected_update_knit();
 
   expected_cacheISR(START_NEEDLE, Direction_t::Right, Direction_t::Left, BeltShift::Regular, Carriage_t::Knit);
   EXPECT_CALL(*solenoidsMock, setSolenoid);
   expect_indState();
-  expected_update_knit(false);
+  expected_update_knit();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(solenoidsMock));
@@ -501,19 +491,21 @@ TEST_F(OpKnitTest, test_knit_Kh270) {
 }
 
 TEST_F(OpKnitTest, test_knit_line_request) {
+  get_to_knit(Machine_t::Kh910);
+
   // `m_workedOnLine` is set to `true`
-  expected_update_knit(true);
+  expected_update_knit();
 
   // Position has changed since last call to operate function
   // `m_pixelToSet` is set above `m_stopNeedle` + END_OF_LINE_OFFSET_R
   expected_cacheISR(NUM_NEEDLES[static_cast<uint8_t>(Machine_t::Kh910)] + 8 + END_OF_LINE_OFFSET_R[static_cast<uint8_t>(Machine_t::Kh910)] + 1);
 
   EXPECT_CALL(*solenoidsMock, setSolenoid);
-  expected_update_knit(false);
+  expected_update_knit();
 
   // no change in position, no action.
   EXPECT_CALL(*solenoidsMock, setSolenoid).Times(0);
-  expected_update_knit(false);
+  expected_update_knit();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(solenoidsMock));
@@ -523,13 +515,14 @@ TEST_F(OpKnitTest, test_knit_line_request) {
 }
 
 TEST_F(OpKnitTest, test_knit_lastLine) {
-  expected_update_knit(true);
+  get_to_knit(Machine_t::Kh910);
+  expected_update_knit();
 
   // Run one knit inside the working needles.
   EXPECT_CALL(*solenoidsMock, setSolenoid);
   expected_cacheISR(opKnit->getStartOffset(Direction_t::Left) + 20);
   // `m_workedOnLine` is set to true
-  expected_update_knit(false);
+  expected_update_knit();
 
   // Position has changed since last call to operate function
   // `m_pixelToSet` is above `m_stopNeedle` + END_OF_LINE_OFFSET_R
@@ -542,7 +535,7 @@ TEST_F(OpKnitTest, test_knit_lastLine) {
   EXPECT_CALL(*beeperMock, endWork);
   EXPECT_CALL(*solenoidsMock, setSolenoids(SOLENOIDS_BITMASK));
   //EXPECT_CALL(*beeperMock, finishedLine);
-  expected_update_knit(false);
+  expected_update_knit();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(solenoidsMock));
@@ -552,13 +545,14 @@ TEST_F(OpKnitTest, test_knit_lastLine) {
 }
 
 TEST_F(OpKnitTest, test_knit_lastLine_and_no_req) {
-  expected_update_knit(true);
+  get_to_knit(Machine_t::Kh910);
+  expected_update_knit();
 
   // Run one knit inside the working needles.
   EXPECT_CALL(*solenoidsMock, setSolenoid);
   expected_cacheISR(opKnit->getStartOffset(Direction_t::Left) + 20);
   // `m_workedOnLine` is set to true
-  expected_update_knit(false);
+  expected_update_knit();
 
   // Position has changed since last call to operate function
   // `m_pixelToSet` is above `m_stopNeedle` + END_OF_LINE_OFFSET_R
@@ -575,7 +569,7 @@ TEST_F(OpKnitTest, test_knit_lastLine_and_no_req) {
   EXPECT_CALL(*beeperMock, endWork);
   EXPECT_CALL(*solenoidsMock, setSolenoids(SOLENOIDS_BITMASK));
   //EXPECT_CALL(*beeperMock, finishedLine);
-  expected_update_knit(false);
+  expected_update_knit();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(solenoidsMock));
@@ -585,11 +579,12 @@ TEST_F(OpKnitTest, test_knit_lastLine_and_no_req) {
 }
 
 TEST_F(OpKnitTest, test_knit_same_position) {
-  expected_update_knit(true);
+  get_to_knit(Machine_t::Kh910);
+  expected_update_knit();
 
   // no call to `setSolenoid()` since position was the same
   EXPECT_CALL(*solenoidsMock, setSolenoid).Times(0);
-  expected_update_knit(false);
+  expected_update_knit();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(solenoidsMock));
@@ -599,14 +594,16 @@ TEST_F(OpKnitTest, test_knit_same_position) {
 }
 
 TEST_F(OpKnitTest, test_knit_new_line) {
+  get_to_knit(Machine_t::Kh910);
+
   // _workedOnLine is set to true
-  expected_update_knit(true);
+  expected_update_knit();
 
   // Run one knit inside the working needles.
   EXPECT_CALL(*solenoidsMock, setSolenoid);
   expected_cacheISR(opKnit->getStartOffset(Direction_t::Left) + 20);
   // `m_workedOnLine` is set to true
-  expected_update_knit(false);
+  expected_update_knit();
 
   // Position has changed since last call to operate function
   // `m_pixelToSet` is above `m_stopNeedle` + END_OF_LINE_OFFSET_R
@@ -620,7 +617,7 @@ TEST_F(OpKnitTest, test_knit_new_line) {
 
   // `reqLine()` is called which calls `send_reqLine()`
   expect_reqLine();
-  expected_update_knit(false);
+  expected_update_knit();
 
   // test expectations without destroying instance
   ASSERT_TRUE(Mock::VerifyAndClear(solenoidsMock));

diff --git a/test/test_controller.cpp b/test/test_controller.cpp
@@ -170,6 +170,7 @@ class ControllerTest : public ::testing::Test {
     ASSERT_EQ(controller->getState(), opReadyMock);
 
     EXPECT_CALL(*opReadyMock, update);
+    expect_first_knit();
     expected_update();
 
     // test expectations without destroying instance
@@ -253,7 +254,6 @@ TEST_F(ControllerTest, test_update_knit) {
   ASSERT_EQ(controller->getState(), opKnit);
 
   // now in state `OpKnit`
-  expect_first_knit();
   expected_update_knit();
 
   // test expectations without destroying instance