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-rw-r--r--testsuite/backend/genesys/tests_motor.cpp174
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();
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-02 22:21:07 +0000