diff options
Diffstat (limited to 'testsuite/backend/genesys/tests_motor.cpp')
| -rw-r--r-- | testsuite/backend/genesys/tests_motor.cpp | 174 |
1 files changed, 35 insertions, 139 deletions
diff --git a/testsuite/backend/genesys/tests_motor.cpp b/testsuite/backend/genesys/tests_motor.cpp index 07ca693..18a4d7e 100644 --- a/testsuite/backend/genesys/tests_motor.cpp +++ b/testsuite/backend/genesys/tests_motor.cpp @@ -31,100 +31,6 @@ namespace genesys { -void test_create_slope_table3() -{ - auto asic_type = AsicType::GL841; - auto max_table_size = get_slope_table_max_size(asic_type); - - Genesys_Motor motor; - motor.id = MotorId::CANON_LIDE_200; - motor.base_ydpi = 1200; - motor.optical_ydpi = 6400; - motor.slopes.push_back(MotorSlope::create_from_steps(10000, 1000, 20)); - motor.slopes.push_back(MotorSlope::create_from_steps(10000, 1000, 20)); - motor.slopes.push_back(MotorSlope::create_from_steps(10000, 1000, 16)); - - auto table = sanei_genesys_create_slope_table3(asic_type, motor, StepType::FULL, 10000, - motor.base_ydpi); - - ASSERT_EQ(table.pixeltime_sum, 10000u); - ASSERT_EQ(table.steps_count, 1u); - - std::vector<std::uint16_t> expected_steps = { - 10000, - }; - expected_steps.resize(max_table_size, 10000); - - ASSERT_EQ(table.table, expected_steps); - - table = sanei_genesys_create_slope_table3(asic_type, motor, StepType::FULL, 2000, - motor.base_ydpi); - - ASSERT_EQ(table.pixeltime_sum, 33830u); - ASSERT_EQ(table.steps_count, 7u); - - expected_steps = { - 10000, 10000, 4099, 3028, 2511, 2192, 2000 - }; - expected_steps.resize(max_table_size, 2000); - - ASSERT_EQ(table.table, expected_steps); - - table = sanei_genesys_create_slope_table3(asic_type, motor, StepType::HALF, 10000, - motor.base_ydpi); - - ASSERT_EQ(table.pixeltime_sum, 5000u); - ASSERT_EQ(table.steps_count, 1u); - - expected_steps = { - 5000, - }; - expected_steps.resize(max_table_size, 5000); - - - ASSERT_EQ(table.table, expected_steps); - - table = sanei_genesys_create_slope_table3(asic_type, motor, StepType::HALF, 2000, - motor.base_ydpi); - - ASSERT_EQ(table.pixeltime_sum, 16914u); - ASSERT_EQ(table.steps_count, 7u); - - expected_steps = { - 5000, 5000, 2049, 1514, 1255, 1096, 1000 - }; - expected_steps.resize(max_table_size, 1000); - - ASSERT_EQ(table.table, expected_steps); - - table = sanei_genesys_create_slope_table3(asic_type, motor, StepType::QUARTER, 10000, - motor.base_ydpi); - - ASSERT_EQ(table.pixeltime_sum, 2500u); - ASSERT_EQ(table.steps_count, 1u); - - expected_steps = { - 2500, - }; - expected_steps.resize(max_table_size, 2500); - - - ASSERT_EQ(table.table, expected_steps); - - table = sanei_genesys_create_slope_table3(asic_type, motor, StepType::QUARTER, 2000, - motor.base_ydpi); - - ASSERT_EQ(table.pixeltime_sum, 7680u); - ASSERT_EQ(table.steps_count, 6u); - - expected_steps = { - 2500, 2500, 932, 683, 565, 500 - }; - expected_steps.resize(max_table_size, 500); - - ASSERT_EQ(table.table, expected_steps); -} - void test_create_slope_table_small_full_step() { unsigned max_table_size = 1024; @@ -135,26 +41,24 @@ void test_create_slope_table_small_full_step() slope.max_speed_w = 2632; slope.acceleration = 1.2e-8; - auto table = create_slope_table(slope, 5000, StepType::FULL, 4, 8, max_table_size); + auto table = create_slope_table_for_speed(slope, 5000, StepType::FULL, 4, 8, max_table_size); std::vector<std::uint16_t> expected_table = { - 62464, 62464, 6420, 5000 + 62464, 62464, 6420, 5000, 5000, 5000, 5000, 5000 }; - expected_table.resize(max_table_size, 5000); ASSERT_EQ(table.table, expected_table); - ASSERT_EQ(table.steps_count, 8u); - ASSERT_EQ(table.pixeltime_sum, 156348u); + ASSERT_EQ(table.table.size(), 8u); + ASSERT_EQ(table.pixeltime_sum(), 156348u); - table = create_slope_table(slope, 3000, StepType::FULL, 4, 8, max_table_size); + table = create_slope_table_for_speed(slope, 3000, StepType::FULL, 4, 8, max_table_size); expected_table = { - 62464, 62464, 6420, 4552, 3720, 3223, 3000 + 62464, 62464, 6420, 4552, 3720, 3223, 3000, 3000 }; - expected_table.resize(max_table_size, 3000); ASSERT_EQ(table.table, expected_table); - ASSERT_EQ(table.steps_count, 8u); - ASSERT_EQ(table.pixeltime_sum, 148843u); + ASSERT_EQ(table.table.size(), 8u); + ASSERT_EQ(table.pixeltime_sum(), 148843u); } void test_create_slope_table_small_full_step_target_speed_too_high() @@ -167,15 +71,14 @@ void test_create_slope_table_small_full_step_target_speed_too_high() slope.max_speed_w = 2632; slope.acceleration = 1.2e-8; - auto table = create_slope_table(slope, 2000, StepType::FULL, 4, 8, max_table_size); + auto table = create_slope_table_for_speed(slope, 2000, StepType::FULL, 4, 8, max_table_size); std::vector<std::uint16_t> expected_table = { 62464, 62464, 6420, 4552, 3720, 3223, 2883, 2632 }; - expected_table.resize(max_table_size, 2632); ASSERT_EQ(table.table, expected_table); - ASSERT_EQ(table.steps_count, 8u); - ASSERT_EQ(table.pixeltime_sum, 148358u); + ASSERT_EQ(table.table.size(), 8u); + ASSERT_EQ(table.pixeltime_sum(), 148358u); } void test_create_slope_table_small_half_step() @@ -188,26 +91,24 @@ void test_create_slope_table_small_half_step() slope.max_speed_w = 2632; slope.acceleration = 1.2e-8; - auto table = create_slope_table(slope, 5000, StepType::HALF, 4, 8, max_table_size); + auto table = create_slope_table_for_speed(slope, 5000, StepType::HALF, 4, 8, max_table_size); std::vector<std::uint16_t> expected_table = { - 31232, 31232, 3210, 2500 + 31232, 31232, 3210, 2500, 2500, 2500, 2500, 2500 }; - expected_table.resize(max_table_size, 2500); ASSERT_EQ(table.table, expected_table); - ASSERT_EQ(table.steps_count, 8u); - ASSERT_EQ(table.pixeltime_sum, 78174u); + ASSERT_EQ(table.table.size(), 8u); + ASSERT_EQ(table.pixeltime_sum(), 78174u); - table = create_slope_table(slope, 3000, StepType::HALF, 4, 8, max_table_size); + table = create_slope_table_for_speed(slope, 3000, StepType::HALF, 4, 8, max_table_size); expected_table = { - 31232, 31232, 3210, 2276, 1860, 1611, 1500 + 31232, 31232, 3210, 2276, 1860, 1611, 1500, 1500 }; - expected_table.resize(max_table_size, 1500); ASSERT_EQ(table.table, expected_table); - ASSERT_EQ(table.steps_count, 8u); - ASSERT_EQ(table.pixeltime_sum, 74421u); + ASSERT_EQ(table.table.size(), 8u); + ASSERT_EQ(table.pixeltime_sum(), 74421u); } void test_create_slope_table_large_full_step() @@ -243,7 +144,7 @@ void test_create_slope_table_large_full_step() slope.max_speed_w = 1500; slope.acceleration = 1.013948e-9; - auto table = create_slope_table(slope, 3000, StepType::FULL, 4, 8, max_table_size); + auto table = create_slope_table_for_speed(slope, 3000, StepType::FULL, 4, 8, max_table_size); std::vector<std::uint16_t> expected_table = { 54612, 54612, 20570, 15090, 12481, 10880, 9770, 8943, 8295, 7771, @@ -251,15 +152,14 @@ void test_create_slope_table_large_full_step() 5072, 4945, 4826, 4716, 4613, 4517, 4426, 4341, 4260, 4184, 4111, 4043, 3977, 3915, 3855, 3799, 3744, 3692, 3642, 3594, 3548, 3503, 3461, 3419, 3379, 3341, 3304, 3268, 3233, 3199, - 3166, 3135, 3104, 3074, 3045, 3017, 3000, + 3166, 3135, 3104, 3074, 3045, 3017, 3000, 3000, 3000, 3000, }; - expected_table.resize(max_table_size, 3000); ASSERT_EQ(table.table, expected_table); - ASSERT_EQ(table.steps_count, 60u); - ASSERT_EQ(table.pixeltime_sum, 412616u); + ASSERT_EQ(table.table.size(), 60u); + ASSERT_EQ(table.pixeltime_sum(), 412616u); - table = create_slope_table(slope, 1500, StepType::FULL, 4, 8, max_table_size); + table = create_slope_table_for_speed(slope, 1500, StepType::FULL, 4, 8, max_table_size); expected_table = { 54612, 54612, 20570, 15090, 12481, 10880, 9770, 8943, 8295, 7771, @@ -284,12 +184,11 @@ void test_create_slope_table_large_full_step() 1614, 1610, 1606, 1601, 1597, 1593, 1589, 1585, 1581, 1577, 1573, 1569, 1565, 1561, 1557, 1554, 1550, 1546, 1542, 1539, 1535, 1531, 1528, 1524, 1520, 1517, 1513, 1510, 1506, 1503, - 1500, + 1500, 1500, 1500, 1500, }; - expected_table.resize(max_table_size, 1500); ASSERT_EQ(table.table, expected_table); - ASSERT_EQ(table.steps_count, 224u); - ASSERT_EQ(table.pixeltime_sum, 734910u); + ASSERT_EQ(table.table.size(), 224u); + ASSERT_EQ(table.pixeltime_sum(), 734910u); } void test_create_slope_table_large_half_step() @@ -303,7 +202,7 @@ void test_create_slope_table_large_half_step() slope.max_speed_w = 1500; slope.acceleration = 1.013948e-9; - auto table = create_slope_table(slope, 3000, StepType::HALF, 4, 8, max_table_size); + auto table = create_slope_table_for_speed(slope, 3000, StepType::HALF, 4, 8, max_table_size); std::vector<std::uint16_t> expected_table = { 27306, 27306, 10285, 7545, 6240, 5440, 4885, 4471, 4147, 3885, @@ -311,15 +210,14 @@ void test_create_slope_table_large_half_step() 2536, 2472, 2413, 2358, 2306, 2258, 2213, 2170, 2130, 2092, 2055, 2021, 1988, 1957, 1927, 1899, 1872, 1846, 1821, 1797, 1774, 1751, 1730, 1709, 1689, 1670, 1652, 1634, 1616, 1599, - 1583, 1567, 1552, 1537, 1522, 1508, 1500, + 1583, 1567, 1552, 1537, 1522, 1508, 1500, 1500, 1500, 1500, }; - expected_table.resize(max_table_size, 1500); ASSERT_EQ(table.table, expected_table); - ASSERT_EQ(table.steps_count, 60u); - ASSERT_EQ(table.pixeltime_sum, 206294u); + ASSERT_EQ(table.table.size(), 60u); + ASSERT_EQ(table.pixeltime_sum(), 206294u); - table = create_slope_table(slope, 1500, StepType::HALF, 4, 8, max_table_size); + table = create_slope_table_for_speed(slope, 1500, StepType::HALF, 4, 8, max_table_size); expected_table = { 27306, 27306, 10285, 7545, 6240, 5440, 4885, 4471, 4147, 3885, @@ -344,17 +242,15 @@ void test_create_slope_table_large_half_step() 807, 805, 803, 800, 798, 796, 794, 792, 790, 788, 786, 784, 782, 780, 778, 777, 775, 773, 771, 769, 767, 765, 764, 762, 760, 758, 756, 755, 753, 751, - 750, + 750, 750, 750, 750, }; - expected_table.resize(max_table_size, 750); ASSERT_EQ(table.table, expected_table); - ASSERT_EQ(table.steps_count, 224u); - ASSERT_EQ(table.pixeltime_sum, 367399u); + ASSERT_EQ(table.table.size(), 224u); + ASSERT_EQ(table.pixeltime_sum(), 367399u); } void test_motor() { - test_create_slope_table3(); test_create_slope_table_small_full_step(); test_create_slope_table_small_full_step_target_speed_too_high(); test_create_slope_table_small_half_step(); |