1149 lines
46 KiB
C++
1149 lines
46 KiB
C++
#include "fgc/TestRunner.h"
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#include "fgc/Calibration.h" // unwrapNear
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#include "fgc/DiagParser.h"
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#include "fgc/AxisSpeed.h"
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#include "fgc/HardwareChecks.h"
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#include "fgc/HardwarePresence.h"
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#include "fgc/ICameraSource.h"
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#include "fgc/IEnvSensor.h"
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#include "fgc/TmcCurrent.h"
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#include "fgc/sensors/I2cBus.h"
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#include "fgc/DumpParser.h"
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#include "fgc/HostMetrics.h"
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#include "fgc/IImuSource.h"
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#include "fgc/IMotorController.h"
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#include "fgc/Logger.h"
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#include <algorithm>
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#include <filesystem>
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#include <fstream>
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#include <chrono>
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#include <cmath>
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#include <cstdlib>
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#include <numeric>
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#include <thread>
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#include <unistd.h> // gethostname
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namespace fgc {
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using namespace std::chrono_literals;
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using clock_t_ = std::chrono::steady_clock;
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namespace {
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long long nowEpochMs() {
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return std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch())
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.count();
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}
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std::string hostName() {
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char buf[256] = {0};
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if (gethostname(buf, sizeof(buf) - 1) == 0) return buf;
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return "unknown";
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}
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// ---- small stats over a sample vector ----
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struct Stats {
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double mean = 0, sd = 0, min = 0, max = 0, spread = 0;
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int n = 0;
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};
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Stats stats(const std::vector<double>& v) {
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Stats s;
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s.n = static_cast<int>(v.size());
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if (v.empty()) return s;
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s.min = s.max = v.front();
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double sum = 0;
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for (double x : v) { sum += x; s.min = std::min(s.min, x); s.max = std::max(s.max, x); }
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s.mean = sum / v.size();
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double acc = 0;
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for (double x : v) acc += (x - s.mean) * (x - s.mean);
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s.sd = v.size() > 1 ? std::sqrt(acc / (v.size() - 1)) : 0.0;
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s.spread = s.max - s.min;
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return s;
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}
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// ---- metric builders ----
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TestMetric& add(TestSection& s, const std::string& name, double value,
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const std::string& unit, bool lower_is_better = true) {
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s.metrics.push_back(TestMetric{});
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TestMetric& m = s.metrics.back();
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m.name = name;
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m.value = value;
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m.unit = unit;
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m.lower_is_better = lower_is_better;
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return m;
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}
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void thresh(TestMetric& m, double t) {
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m.has_threshold = true;
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m.threshold = t;
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m.pass = m.lower_is_better ? (m.value <= t) : (m.value >= t);
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}
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void rollup(TestSection& s) {
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s.ran = true;
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s.pass = true;
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for (const auto& m : s.metrics)
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if (!m.pass) s.pass = false;
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}
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} // namespace
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bool resolveTestSelection(const std::string& subsystem, const std::string& test,
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uint32_t& mask, std::string& err) {
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auto leaf = [&](const char* s, const char* t, uint32_t bit,
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uint32_t& m) -> bool {
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if (subsystem == s && (test.empty() || test == t)) { m |= bit; return true; }
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return false;
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};
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if (subsystem.empty()) { mask = T_ALL; return true; }
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uint32_t m = 0;
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bool sub_ok = false;
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if (subsystem == "gimbal") {
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sub_ok = true;
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if (test.empty()) m = T_GIMBAL_ALL;
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else if (test == "homing") m = T_GIMBAL_HOMING;
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else if (test == "encoder") m = T_GIMBAL_ENCODER;
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else if (test == "friction") m = T_GIMBAL_FRICTION;
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else if (test == "backlash") m = T_GIMBAL_BACKLASH;
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else if (test == "balance") m = T_GIMBAL_BALANCE;
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else { err = "unknown gimbal test: " + test; return false; }
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} else if (subsystem == "imu") {
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sub_ok = true;
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if (test.empty()) m = T_IMU_ALL;
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else if (test == "config") m = T_IMU_CONFIG;
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else if (test == "health") m = T_IMU_HEALTH;
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else if (test == "drift") m = T_IMU_DRIFT;
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else { err = "unknown imu test: " + test; return false; }
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} else if (subsystem == "hardware") {
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sub_ok = true;
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if (test.empty()) m = T_HW_ALL;
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else if (test == "axes") m = T_HW_AXES;
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else if (test == "motor") m = T_HW_MOTOR;
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else if (test == "imu") m = T_HW_IMU;
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else if (test == "env") m = T_HW_ENV;
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else if (test == "camera") m = T_HW_CAMERA;
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else { err = "unknown hardware test: " + test; return false; }
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} else if (subsystem == "host") {
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sub_ok = true;
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if (test.empty()) m = T_HOST_ALL;
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else if (test == "thermal") m = T_HOST_THERMAL;
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else if (test == "disk") m = T_HOST_DISK;
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else if (test == "memory") m = T_HOST_MEMORY;
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else if (test == "load") m = T_HOST_LOAD;
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else { err = "unknown host test: " + test; return false; }
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}
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(void)leaf;
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if (!sub_ok) { err = "unknown test subsystem: " + subsystem; return false; }
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mask = m;
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return true;
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}
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TestRunner::TestRunner(IMotorController& motor, IImuSource* imu, Geometry geo,
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uint32_t selection, TestProfile profile, std::string disk_path,
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HardwareTestContext hw)
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: motor_(motor), imu_(imu), geo_(geo), selection_(selection),
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profile_(std::move(profile)), disk_path_(std::move(disk_path)), hw_(std::move(hw)) {}
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TestRunner::~TestRunner() {
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cancel_ = true;
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if (thread_.joinable()) thread_.join();
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}
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bool TestRunner::start() {
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if (running_.exchange(true)) {
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LOG_WARN << "test already running";
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return false;
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}
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cancel_ = false;
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{
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std::lock_guard<std::mutex> lk(result_mutex_);
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report_.reset();
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}
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thread_ = std::thread([this] { run(); });
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return true;
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}
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void TestRunner::cancel() { cancel_ = true; }
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std::optional<TestReport> TestRunner::takeReport() {
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std::lock_guard<std::mutex> lk(result_mutex_);
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if (!report_) return std::nullopt;
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auto out = std::move(report_);
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report_.reset();
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return out;
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}
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TestProgress TestRunner::progress() const {
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std::lock_guard<std::mutex> lk(progress_mutex_);
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return progress_;
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}
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void TestRunner::setProgress(const std::string& section, int step, int total,
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const char* phase) {
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std::lock_guard<std::mutex> lk(progress_mutex_);
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progress_.running = true;
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progress_.section = section;
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progress_.step = step;
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progress_.total = total;
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progress_.phase = phase;
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}
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void TestRunner::run() {
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struct Done {
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TestRunner* self;
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~Done() {
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std::lock_guard<std::mutex> lk(self->progress_mutex_);
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self->progress_ = TestProgress{};
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self->running_ = false;
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}
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} done{this};
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TestReport r;
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r.ts_ms = nowEpochMs();
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r.profile = profile_.name.empty() ? "default" : profile_.name;
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r.host = hostName();
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r.fw = ""; // populated from a DUMP build string if available
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// A homing run also surfaces the firmware build id for the report header.
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if (!cancelled() && (selection_ & T_GIMBAL_HOMING)) testHoming(r);
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if (!cancelled() && (selection_ & T_GIMBAL_ENCODER)) testEncoder(r);
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if (!cancelled() && (selection_ & T_GIMBAL_FRICTION)) testFriction(r);
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if (!cancelled() && (selection_ & T_GIMBAL_BACKLASH)) testBacklash(r);
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if (!cancelled() && (selection_ & T_GIMBAL_BALANCE)) testBalance(r);
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if (!cancelled() && (selection_ & T_IMU_CONFIG)) testImuConfig(r);
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if (!cancelled() && (selection_ & T_IMU_HEALTH)) testImuHealth(r);
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if (!cancelled() && (selection_ & T_IMU_DRIFT)) testImuDrift(r);
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if (!cancelled() && (selection_ & T_HOST_ALL)) testHost(r);
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if (!cancelled() && (selection_ & T_HW_AXES)) testHwAxes(r);
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if (!cancelled() && (selection_ & T_HW_MOTOR)) testHwMotor(r);
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if (!cancelled() && (selection_ & T_HW_IMU)) testHwImu(r);
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if (!cancelled() && (selection_ & T_HW_ENV)) testHwEnv(r);
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if (!cancelled() && (selection_ & T_HW_CAMERA)) testHwCamera(r);
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r.all_pass = true;
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for (const auto& s : r.sections)
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if (s.ran && !s.pass) r.all_pass = false;
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{
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std::lock_guard<std::mutex> lk(result_mutex_);
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report_ = std::move(r);
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}
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if (cancelled()) LOG_WARN << "test cancelled";
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}
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// ---------------------------------------------------------------------------
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// Motor helpers
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// ---------------------------------------------------------------------------
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namespace {
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// Poll telemetry until `pred` is true or `timeout` elapses. Returns elapsed ms,
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// or -1 on timeout/cancel. Calls `tick` each poll for sampling.
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template <typename Pred, typename Tick>
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double pollUntil(IMotorController& motor, const std::atomic<bool>& cancel,
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Pred pred, Tick tick, std::chrono::milliseconds timeout,
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std::chrono::milliseconds period = 20ms) {
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const auto t0 = clock_t_::now();
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const auto deadline = t0 + timeout;
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while (clock_t_::now() < deadline) {
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if (cancel.load()) return -1;
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MotorTelemetry t = motor.telemetry();
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tick(t);
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if (pred(t))
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return std::chrono::duration<double, std::milli>(clock_t_::now() - t0).count();
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std::this_thread::sleep_for(period);
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}
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return -1;
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}
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bool axisReady(const MotorTelemetry& t) {
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return t.yaw.ready() && (!t.pitch_present || t.pitch.ready());
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}
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} // namespace
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void TestRunner::testHoming(TestReport& r) {
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TestSection s;
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s.id = "homing";
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s.title = "homing reproducibility";
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const auto t_start = clock_t_::now();
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const int reps = std::max(2, profile_.geti("reps", 5));
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const auto home_to = std::chrono::milliseconds(profile_.geti("home_timeout_ms", 65000));
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motor_.sendCommand("ENABLE Y");
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motor_.sendCommand("ENABLE P");
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std::vector<double> yaw_neg, yaw_pos, pit_neg, pit_pos, durations;
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int failures = 0;
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bool pitch_present = false;
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for (int i = 0; i < reps && !cancelled(); ++i) {
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setProgress("homing", i + 1, reps, "homing");
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motor_.sendCommand("HOME");
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// wait for homing to begin (axis leaves READY), tolerating EEPROM fast-path
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pollUntil(motor_, cancel_, [](const MotorTelemetry& t) { return !axisReady(t); },
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[](const MotorTelemetry&) {},
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std::chrono::milliseconds(profile_.geti("home_begin_timeout_ms", 3000)));
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double dur = pollUntil(
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motor_, cancel_,
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[](const MotorTelemetry& t) {
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if (t.yaw.state == AxisState::Error ||
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(t.pitch_present && t.pitch.state == AxisState::Error))
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return true;
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return axisReady(t);
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},
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[](const MotorTelemetry&) {}, home_to);
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MotorTelemetry t = motor_.telemetry();
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if (dur < 0 || t.yaw.state == AxisState::Error ||
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(t.pitch_present && t.pitch.state == AxisState::Error)) {
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++failures;
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continue;
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}
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durations.push_back(dur);
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// Read the homed endstop limits from a fresh DUMP.
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motor_.sendCommand("DUMP");
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std::this_thread::sleep_for(150ms);
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DumpData d = parseDump(motor_.lastDump());
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if (r.fw.empty() && !d.build.empty()) r.fw = d.build;
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for (const auto& ax : d.axes) {
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if (ax.axis == 'Y') { yaw_neg.push_back(ax.lim_neg); yaw_pos.push_back(ax.lim_pos); }
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else if (ax.axis == 'P') {
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pitch_present = true;
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pit_neg.push_back(ax.lim_neg);
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pit_pos.push_back(ax.lim_pos);
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}
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}
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}
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const double spread_max = profile_.get("home_spread_max_counts", 80);
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if (!yaw_neg.empty()) {
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thresh(add(s, "yaw_lim_neg_spread", stats(yaw_neg).spread, "counts"), spread_max);
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thresh(add(s, "yaw_lim_pos_spread", stats(yaw_pos).spread, "counts"), spread_max);
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}
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if (pitch_present) {
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thresh(add(s, "pitch_lim_neg_spread", stats(pit_neg).spread, "counts"), spread_max);
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thresh(add(s, "pitch_lim_pos_spread", stats(pit_pos).spread, "counts"), spread_max);
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}
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if (!durations.empty()) {
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Stats ds = stats(durations);
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add(s, "home_ms_mean", ds.mean, "ms");
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add(s, "home_ms_max", ds.max, "ms");
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auto& tm = add(s, "home_ms_spread", ds.spread, "ms");
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if (profile_.get("home_ms_max", 0) > 0)
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thresh(tm, profile_.get("home_ms_max", 0) - profile_.get("home_ms_min", 0));
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}
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thresh(add(s, "homing_failures", failures, "count"), 0);
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if (yaw_neg.empty() && failures == 0) s.notes.push_back("no DUMP limits parsed (mock or no encoder)");
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s.duration_ms = std::chrono::duration<double, std::milli>(clock_t_::now() - t_start).count();
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rollup(s);
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r.sections.push_back(std::move(s));
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}
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void TestRunner::testEncoder(TestReport& r) {
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TestSection s;
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s.id = "encoder";
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s.title = "encoder tracking + repeatability";
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const auto t_start = clock_t_::now();
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// (a) firmware DIAG tracking quality, repeated for spread.
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const int reps = std::max(1, profile_.geti("encoder_diag_reps", 2));
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std::vector<double> y_peak, y_still, p_peak, p_still;
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bool any_diag = false;
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for (int i = 0; i < reps && !cancelled(); ++i) {
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setProgress("encoder", i + 1, reps, "diag");
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unsigned seq0 = motor_.diagSeq();
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motor_.sendCommand("DIAG");
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// wait for a fresh diag completion
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const auto deadline = clock_t_::now() + 60s;
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while (clock_t_::now() < deadline && !cancelled() && motor_.diagSeq() == seq0)
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std::this_thread::sleep_for(50ms);
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if (motor_.diagSeq() == seq0) { s.notes.push_back("DIAG did not complete"); continue; }
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any_diag = true;
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DiagResult dr = parseDiag(motor_.lastDiag());
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for (const auto& ax : dr.axes) {
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long peak = -1, still = -1;
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for (const auto& tst : ax.tests) {
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if (tst.err_peak < 0) continue;
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peak = std::max(peak, tst.err_peak);
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still = std::max(still, tst.err_still);
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}
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if (peak < 0) continue;
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if (ax.axis == 'Y') { y_peak.push_back(peak); y_still.push_back(still); }
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else if (ax.axis == 'P') { p_peak.push_back(peak); p_still.push_back(still); }
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}
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}
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const double err_peak_max = profile_.get("encoder_err_peak_max_counts", 0);
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auto emit = [&](const char* ax, std::vector<double>& peak, std::vector<double>& still) {
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if (peak.empty()) return;
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auto& mp = add(s, std::string(ax) + "_err_peak", stats(peak).max, "counts");
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if (err_peak_max > 0) thresh(mp, err_peak_max);
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add(s, std::string(ax) + "_err_peak_spread", stats(peak).spread, "counts");
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add(s, std::string(ax) + "_err_still", stats(still).max, "counts");
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};
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emit("yaw", y_peak, y_still);
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emit("pitch", p_peak, p_still);
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if (!any_diag) s.notes.push_back("no DIAG data captured");
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// (c) hold integrity: hold-corrector delta across a short window.
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motor_.sendCommand("DUMP");
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std::this_thread::sleep_for(150ms);
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DumpData d0 = parseDump(motor_.lastDump());
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std::this_thread::sleep_for(std::chrono::milliseconds(profile_.geti("hold_window_ms", 2000)));
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if (cancelled()) { s.duration_ms = 0; rollup(s); r.sections.push_back(std::move(s)); return; }
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motor_.sendCommand("DUMP");
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std::this_thread::sleep_for(150ms);
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DumpData d1 = parseDump(motor_.lastDump());
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auto holdOf = [](const DumpData& d, char ax) -> long {
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for (const auto& a : d.axes) if (a.axis == ax) return a.hold_corrections;
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return 0;
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};
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if (d0.valid && d1.valid) {
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thresh(add(s, "yaw_hold_corrections", holdOf(d1, 'Y') - holdOf(d0, 'Y'), "count"),
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profile_.get("hold_corrections_max", 0));
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}
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s.duration_ms = std::chrono::duration<double, std::milli>(clock_t_::now() - t_start).count();
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rollup(s);
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r.sections.push_back(std::move(s));
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}
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// Sample motor load (cs/pwm peak, sg min) and time a move to a target. Returns
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// elapsed ms (-1 on timeout). `axis` is 'Y' or 'P'.
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namespace {
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struct LoadResult {
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double ms = -1;
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double cs_peak = 0, pwm_peak = 0, sg_min = 1e9;
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};
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LoadResult moveAndSampleLoad(IMotorController& motor, const std::atomic<bool>& cancel,
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char axis, long target, std::chrono::milliseconds timeout) {
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LoadResult lr;
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motor.sendCommand(std::string("MOVE ") + axis + " " + std::to_string(target));
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std::this_thread::sleep_for(40ms); // let it leave standstill
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lr.ms = pollUntil(
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motor, cancel,
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[axis](const MotorTelemetry& t) {
|
|
const AxisTelemetry& a = (axis == 'P') ? t.pitch : t.yaw;
|
|
return a.standstill;
|
|
},
|
|
[&](const MotorTelemetry& t) {
|
|
const AxisTelemetry& a = (axis == 'P') ? t.pitch : t.yaw;
|
|
lr.cs_peak = std::max(lr.cs_peak, (double)a.cs);
|
|
lr.pwm_peak = std::max(lr.pwm_peak, (double)a.pwm);
|
|
lr.sg_min = std::min(lr.sg_min, (double)a.sg);
|
|
},
|
|
timeout);
|
|
return lr;
|
|
}
|
|
} // namespace
|
|
|
|
void TestRunner::testFriction(TestReport& r) {
|
|
TestSection s;
|
|
s.id = "friction";
|
|
s.title = "full-range traverse time + load";
|
|
const auto t_start = clock_t_::now();
|
|
const auto move_to = std::chrono::milliseconds(profile_.geti("settle_timeout_ms", 20000));
|
|
const int reps = std::max(1, profile_.geti("friction_reps", profile_.geti("reps", 5)));
|
|
s.notes.push_back("load via ST sampling (firmware LP not implemented)");
|
|
|
|
auto runAxis = [&](char axis, double min_deg, double max_deg) {
|
|
long lo = (axis == 'P') ? geo_.pitch.toCounts(min_deg) : geo_.yaw.toCounts(min_deg);
|
|
long hi = (axis == 'P') ? geo_.pitch.toCounts(max_deg) : geo_.yaw.toCounts(max_deg);
|
|
std::vector<double> t_fwd, t_rev, l_fwd, l_rev;
|
|
for (int i = 0; i < reps && !cancelled(); ++i) {
|
|
setProgress("friction", i + 1, reps, axis == 'P' ? "pitch" : "yaw");
|
|
LoadResult f = moveAndSampleLoad(motor_, cancel_, axis, hi, move_to);
|
|
LoadResult b = moveAndSampleLoad(motor_, cancel_, axis, lo, move_to);
|
|
if (f.ms > 0) { t_fwd.push_back(f.ms); l_fwd.push_back(f.cs_peak); }
|
|
if (b.ms > 0) { t_rev.push_back(b.ms); l_rev.push_back(b.cs_peak); }
|
|
}
|
|
const std::string a = (axis == 'P') ? "pitch" : "yaw";
|
|
if (!t_fwd.empty()) {
|
|
add(s, a + "_traverse_ms_fwd", stats(t_fwd).mean, "ms");
|
|
add(s, a + "_traverse_ms_rev", stats(t_rev).mean, "ms");
|
|
add(s, a + "_load_peak_fwd", stats(l_fwd).max, "cs");
|
|
add(s, a + "_load_peak_rev", stats(l_rev).max, "cs");
|
|
double asym = std::fabs(stats(t_fwd).mean - stats(t_rev).mean);
|
|
add(s, a + "_traverse_asym_ms", asym, "ms");
|
|
}
|
|
};
|
|
runAxis('Y', geo_.yaw.min_deg, geo_.yaw.max_deg);
|
|
{
|
|
MotorTelemetry t = motor_.telemetry();
|
|
if (t.pitch_present) runAxis('P', geo_.pitch.min_deg, geo_.pitch.max_deg);
|
|
}
|
|
|
|
s.duration_ms = std::chrono::duration<double, std::milli>(clock_t_::now() - t_start).count();
|
|
rollup(s);
|
|
r.sections.push_back(std::move(s));
|
|
}
|
|
|
|
void TestRunner::testBacklash(TestReport& r) {
|
|
TestSection s;
|
|
s.id = "backlash";
|
|
s.title = "reversal dead-band";
|
|
const auto t_start = clock_t_::now();
|
|
const auto move_to = std::chrono::milliseconds(profile_.geti("settle_timeout_ms", 20000));
|
|
std::vector<long> steps = profile_.getLongList("backlash_step_counts");
|
|
if (steps.empty()) steps = {500};
|
|
|
|
auto followErr = [&](char axis) -> long {
|
|
MotorTelemetry t = motor_.telemetry();
|
|
const AxisTelemetry& a = (axis == 'P') ? t.pitch : t.yaw;
|
|
return std::labs(a.xactual - a.xenc);
|
|
};
|
|
auto stepMove = [&](char axis, long delta) {
|
|
MotorTelemetry t = motor_.telemetry();
|
|
const AxisTelemetry& a = (axis == 'P') ? t.pitch : t.yaw;
|
|
long target = a.xenc + delta;
|
|
moveAndSampleLoad(motor_, cancel_, axis, target, move_to);
|
|
};
|
|
|
|
auto runAxis = [&](char axis) {
|
|
const std::string a = (axis == 'P') ? "pitch" : "yaw";
|
|
for (long step : steps) {
|
|
if (cancelled()) return;
|
|
setProgress("backlash", 1, (int)steps.size(), a.c_str());
|
|
// advance a few steps forward, then reverse and read the dead-band
|
|
for (int k = 0; k < 3; ++k) stepMove(axis, +step);
|
|
long mid_err = followErr(axis);
|
|
stepMove(axis, -step);
|
|
long reversal_err = followErr(axis);
|
|
auto& m = add(s, a + "_deadband_s" + std::to_string(step), reversal_err - mid_err, "counts");
|
|
if (profile_.get("backlash_deadband_max_counts", 0) > 0)
|
|
thresh(m, profile_.get("backlash_deadband_max_counts", 0));
|
|
}
|
|
};
|
|
runAxis('Y');
|
|
{
|
|
MotorTelemetry t = motor_.telemetry();
|
|
if (t.pitch_present) runAxis('P');
|
|
}
|
|
|
|
s.duration_ms = std::chrono::duration<double, std::milli>(clock_t_::now() - t_start).count();
|
|
rollup(s);
|
|
r.sections.push_back(std::move(s));
|
|
}
|
|
|
|
void TestRunner::testBalance(TestReport& r) {
|
|
TestSection s;
|
|
s.id = "balance";
|
|
s.title = "pitch up/down current symmetry";
|
|
const auto t_start = clock_t_::now();
|
|
MotorTelemetry tp = motor_.telemetry();
|
|
if (!tp.pitch_present) {
|
|
s.notes.push_back("no pitch axis present; skipped");
|
|
s.ran = false;
|
|
r.sections.push_back(std::move(s));
|
|
return;
|
|
}
|
|
const auto move_to = std::chrono::milliseconds(profile_.geti("settle_timeout_ms", 20000));
|
|
const int N = std::max(2, profile_.geti("balance_steps", 10));
|
|
const double lo = geo_.pitch.min_deg, hi = geo_.pitch.max_deg;
|
|
|
|
std::vector<double> up(N, 0), down(N, 0);
|
|
// upward
|
|
for (int i = 0; i < N && !cancelled(); ++i) {
|
|
setProgress("balance", i + 1, N, "up");
|
|
double deg = lo + (hi - lo) * (i + 1) / N;
|
|
LoadResult lr = moveAndSampleLoad(motor_, cancel_, 'P', geo_.pitch.toCounts(deg), move_to);
|
|
up[i] = lr.cs_peak;
|
|
}
|
|
// downward (reverse order)
|
|
for (int i = N - 1; i >= 0 && !cancelled(); --i) {
|
|
setProgress("balance", N - i, N, "down");
|
|
double deg = lo + (hi - lo) * i / N;
|
|
LoadResult lr = moveAndSampleLoad(motor_, cancel_, 'P', geo_.pitch.toCounts(deg), move_to);
|
|
down[i] = lr.cs_peak;
|
|
}
|
|
double max_asym = 0, sum_asym = 0;
|
|
for (int i = 0; i < N; ++i) {
|
|
double d = std::fabs(up[i] - down[i]);
|
|
max_asym = std::max(max_asym, d);
|
|
sum_asym += d;
|
|
add(s, "step" + std::to_string(i) + "_up", up[i], "cs");
|
|
add(s, "step" + std::to_string(i) + "_down", down[i], "cs");
|
|
}
|
|
add(s, "asym_mean", N ? sum_asym / N : 0, "cs");
|
|
thresh(add(s, "asym_max", max_asym, "cs"), profile_.get("balance_asym_max", 4));
|
|
|
|
s.duration_ms = std::chrono::duration<double, std::milli>(clock_t_::now() - t_start).count();
|
|
rollup(s);
|
|
r.sections.push_back(std::move(s));
|
|
}
|
|
|
|
// ---------------------------------------------------------------------------
|
|
// IMU modules
|
|
// ---------------------------------------------------------------------------
|
|
void TestRunner::testImuConfig(TestReport& r) {
|
|
TestSection s;
|
|
s.id = "imu_config";
|
|
s.title = "IMU configuration";
|
|
if (!imu_) { s.notes.push_back("no IMU"); s.ran = false; r.sections.push_back(std::move(s)); return; }
|
|
setProgress("imu_config", 1, 1, "reading");
|
|
imu_->refreshConfig();
|
|
auto cfg = imu_->config();
|
|
if (!cfg || !cfg->valid) {
|
|
s.notes.push_back("device config unavailable");
|
|
thresh(add(s, "config_readable", 0, ""), 1); // lower_is_better default => fails (0<=1 true)
|
|
s.metrics.back().lower_is_better = false;
|
|
s.metrics.back().pass = false;
|
|
s.ran = true; s.pass = false;
|
|
r.sections.push_back(std::move(s));
|
|
return;
|
|
}
|
|
auto& c = *cfg;
|
|
s.notes.push_back("device: " + c.product_code + " fw " + c.firmware);
|
|
// Expected sample rate.
|
|
double exp_hz = profile_.get("imu_expected_hz", 100);
|
|
auto& mh = add(s, "sample_rate_hz", c.sample_rate_hz, "Hz", false);
|
|
mh.has_threshold = true; mh.threshold = exp_hz * 0.95;
|
|
mh.pass = std::fabs(c.sample_rate_hz - exp_hz) <= exp_hz * 0.05;
|
|
// Output content present.
|
|
auto& mo = add(s, "orientation_output", c.out_orientation ? 1 : 0, "", false);
|
|
mo.has_threshold = true; mo.threshold = 1; mo.pass = c.out_orientation;
|
|
// Active XKF profile matches expectation, if configured.
|
|
std::string want = profile_.gets("imu_expected_profile");
|
|
if (!want.empty()) {
|
|
auto& mp = add(s, "xkf_profile_match", c.scenario_label == want ? 1 : 0, "", false);
|
|
mp.has_threshold = true; mp.threshold = 1; mp.pass = (c.scenario_label == want);
|
|
if (!mp.pass) s.notes.push_back("XKF profile is '" + c.scenario_label + "', expected '" + want + "'");
|
|
}
|
|
rollup(s);
|
|
r.sections.push_back(std::move(s));
|
|
}
|
|
|
|
namespace {
|
|
// Collect IMU samples for `window`. Returns euler vectors + temp + dropped count.
|
|
struct ImuStats {
|
|
std::vector<double> roll, pitch, yaw, temp;
|
|
int dropped = 0, n = 0;
|
|
double accel_norm_mean = 0;
|
|
};
|
|
ImuStats sampleImu(IImuSource& imu, const std::atomic<bool>& cancel,
|
|
std::chrono::milliseconds window) {
|
|
ImuStats st;
|
|
const auto deadline = clock_t_::now() + window;
|
|
int last_counter = -1;
|
|
double accel_sum = 0;
|
|
int accel_n = 0;
|
|
while (clock_t_::now() < deadline && !cancel.load()) {
|
|
auto smp = imu.sample();
|
|
if (smp && smp->valid) {
|
|
st.roll.push_back(smp->roll_deg);
|
|
st.pitch.push_back(smp->pitch_deg);
|
|
st.yaw.push_back(smp->yaw_deg);
|
|
st.temp.push_back(smp->temp_c);
|
|
double an = std::sqrt(smp->acc[0] * smp->acc[0] + smp->acc[1] * smp->acc[1] +
|
|
smp->acc[2] * smp->acc[2]);
|
|
accel_sum += an;
|
|
++accel_n;
|
|
int cnt = smp->sample_counter;
|
|
if (last_counter >= 0) {
|
|
int gap = (cnt - last_counter) & 0xFFFF;
|
|
if (gap > 1) st.dropped += gap - 1;
|
|
}
|
|
last_counter = cnt;
|
|
++st.n;
|
|
}
|
|
std::this_thread::sleep_for(5ms);
|
|
}
|
|
st.accel_norm_mean = accel_n ? accel_sum / accel_n : 0;
|
|
return st;
|
|
}
|
|
} // namespace
|
|
|
|
void TestRunner::testImuHealth(TestReport& r) {
|
|
TestSection s;
|
|
s.id = "imu_health";
|
|
s.title = "IMU health (static)";
|
|
if (!imu_) { s.notes.push_back("no IMU"); s.ran = false; r.sections.push_back(std::move(s)); return; }
|
|
const auto window = std::chrono::milliseconds(profile_.geti("imu_sample_window_ms", 3000));
|
|
setProgress("imu_health", 1, 1, "sampling");
|
|
ImuStats st = sampleImu(*imu_, cancel_, window);
|
|
if (st.n == 0) {
|
|
s.notes.push_back("no IMU samples");
|
|
s.ran = true; s.pass = false;
|
|
r.sections.push_back(std::move(s));
|
|
return;
|
|
}
|
|
double secs = window.count() / 1000.0;
|
|
add(s, "sample_rate_hz", secs > 0 ? st.n / secs : 0, "Hz", false);
|
|
thresh(add(s, "dropped_samples", st.dropped, "count"), profile_.get("imu_dropped_max", 0));
|
|
thresh(add(s, "yaw_noise", stats(st.yaw).sd, "deg"), profile_.get("imu_yaw_noise_max_deg", 0.5));
|
|
add(s, "pitch_noise", stats(st.pitch).sd, "deg");
|
|
add(s, "roll_noise", stats(st.roll).sd, "deg");
|
|
thresh(add(s, "accel_norm_err", std::fabs(st.accel_norm_mean - 9.81), "m/s2"),
|
|
profile_.get("imu_accel_norm_err_max", 0.5));
|
|
auto& mt = add(s, "temperature", st.temp.empty() ? 0 : stats(st.temp).mean, "C");
|
|
if (profile_.get("imu_temp_max_c", 0) > 0) thresh(mt, profile_.get("imu_temp_max_c", 0));
|
|
rollup(s);
|
|
r.sections.push_back(std::move(s));
|
|
}
|
|
|
|
void TestRunner::testImuDrift(TestReport& r) {
|
|
TestSection s;
|
|
s.id = "imu_drift";
|
|
s.title = "IMU yaw drift (static)";
|
|
if (!imu_) { s.notes.push_back("no IMU"); s.ran = false; r.sections.push_back(std::move(s)); return; }
|
|
const auto window = std::chrono::milliseconds(profile_.geti("imu_drift_window_ms", 60000));
|
|
setProgress("imu_drift", 1, 1, "drift window");
|
|
|
|
// Sample yaw vs time; least-squares slope (deg/min).
|
|
std::vector<double> ts, yaw;
|
|
const auto t0 = clock_t_::now();
|
|
const auto deadline = t0 + window;
|
|
double peak_min = 1e9, peak_max = -1e9;
|
|
bool have_prev = false;
|
|
double prev_deg = 0.0;
|
|
while (clock_t_::now() < deadline && !cancelled()) {
|
|
auto smp = imu_->sample();
|
|
if (smp && smp->valid) {
|
|
double tmin = std::chrono::duration<double>(clock_t_::now() - t0).count() / 60.0;
|
|
// Yaw is reported raw, so it wraps at ±180. A rig parked on that
|
|
// boundary would otherwise show a ~360° "drift" between consecutive
|
|
// still samples; unwrapping makes the fit and the spread independent
|
|
// of which heading the tower happens to face.
|
|
double deg = smp->yaw_deg;
|
|
if (have_prev) deg = unwrapNear(prev_deg, deg);
|
|
prev_deg = deg;
|
|
have_prev = true;
|
|
|
|
ts.push_back(tmin);
|
|
yaw.push_back(deg);
|
|
peak_min = std::min(peak_min, deg);
|
|
peak_max = std::max(peak_max, deg);
|
|
}
|
|
std::this_thread::sleep_for(20ms);
|
|
}
|
|
if (ts.size() < 3) {
|
|
s.notes.push_back("insufficient IMU samples for drift fit");
|
|
s.ran = true; s.pass = false;
|
|
r.sections.push_back(std::move(s));
|
|
return;
|
|
}
|
|
// slope = cov(t,yaw)/var(t)
|
|
double mt = std::accumulate(ts.begin(), ts.end(), 0.0) / ts.size();
|
|
double my = std::accumulate(yaw.begin(), yaw.end(), 0.0) / yaw.size();
|
|
double cov = 0, var = 0;
|
|
for (size_t i = 0; i < ts.size(); ++i) {
|
|
cov += (ts[i] - mt) * (yaw[i] - my);
|
|
var += (ts[i] - mt) * (ts[i] - mt);
|
|
}
|
|
double slope = var > 1e-12 ? cov / var : 0.0; // deg per minute
|
|
thresh(add(s, "yaw_drift_deg_min", std::fabs(slope), "deg/min"),
|
|
profile_.get("imu_yaw_drift_max_deg_min", 1.0));
|
|
add(s, "yaw_peak_excursion", peak_max - peak_min, "deg");
|
|
s.duration_ms = std::chrono::duration<double, std::milli>(clock_t_::now() - t0).count();
|
|
rollup(s);
|
|
r.sections.push_back(std::move(s));
|
|
}
|
|
|
|
// ---------------------------------------------------------------------------
|
|
// Host module
|
|
// ---------------------------------------------------------------------------
|
|
void TestRunner::testHost(TestReport& r) {
|
|
using namespace hostmetrics;
|
|
if (selection_ & T_HOST_THERMAL) {
|
|
TestSection s; s.id = "host_thermal"; s.title = "host CPU temperature";
|
|
ThermalInfo t = readThermal();
|
|
if (t.ok) {
|
|
auto& m = add(s, "cpu_temp", t.max_temp_c, "C");
|
|
if (profile_.get("cpu_temp_max_c", 0) > 0) thresh(m, profile_.get("cpu_temp_max_c", 85));
|
|
add(s, "throttled", t.throttled ? 1 : 0, "");
|
|
s.notes.push_back("hottest zone: " + t.hottest_zone);
|
|
} else s.notes.push_back("no thermal zones readable");
|
|
rollup(s); r.sections.push_back(std::move(s));
|
|
}
|
|
if (selection_ & T_HOST_DISK) {
|
|
TestSection s; s.id = "host_disk"; s.title = "image partition free space";
|
|
DiskInfo d = readDisk(disk_path_.empty() ? "." : disk_path_);
|
|
if (d.ok) {
|
|
auto& mf = add(s, "free_gb", d.free_gb, "GB", false);
|
|
if (profile_.get("disk_free_min_gb", 0) > 0) thresh(mf, profile_.get("disk_free_min_gb", 5));
|
|
add(s, "used_pct", d.used_pct, "%");
|
|
} else s.notes.push_back("statvfs failed for " + d.path);
|
|
rollup(s); r.sections.push_back(std::move(s));
|
|
}
|
|
if (selection_ & T_HOST_MEMORY) {
|
|
TestSection s; s.id = "host_memory"; s.title = "host memory";
|
|
MemInfo m = readMeminfo();
|
|
if (m.ok) {
|
|
auto& ma = add(s, "ram_avail_mb", m.avail_mb, "MB", false);
|
|
if (profile_.get("ram_avail_min_mb", 0) > 0) thresh(ma, profile_.get("ram_avail_min_mb", 256));
|
|
auto& ms = add(s, "swap_used_mb", m.swap_used_mb, "MB");
|
|
if (profile_.get("swap_used_max_mb", 0) > 0) thresh(ms, profile_.get("swap_used_max_mb", 0));
|
|
} else s.notes.push_back("/proc/meminfo unreadable");
|
|
rollup(s); r.sections.push_back(std::move(s));
|
|
}
|
|
if (selection_ & T_HOST_LOAD) {
|
|
TestSection s; s.id = "host_load"; s.title = "host load average";
|
|
LoadInfo l = readLoad();
|
|
if (l.ok) {
|
|
add(s, "load1", l.load1, "");
|
|
add(s, "load5", l.load5, "");
|
|
add(s, "cpus", l.cpus, "");
|
|
if (l.cpus > 0) thresh(add(s, "load1_per_cpu", l.load1 / l.cpus, ""),
|
|
profile_.get("load_per_cpu_max", 1.5));
|
|
} else s.notes.push_back("load average unavailable");
|
|
rollup(s); r.sections.push_back(std::move(s));
|
|
}
|
|
}
|
|
|
|
// ---------------------------------------------------------------------------
|
|
// `test hardware` - is this rig the one hardware.ini says it is?
|
|
//
|
|
// These differ from every other leaf: they measure nothing and trend nothing.
|
|
// Each is a precondition that either holds or does not, so each metric is a
|
|
// 1/0 with a threshold of 1, and the detail lives in the section notes where an
|
|
// operator reads it.
|
|
|
|
namespace {
|
|
|
|
// A pass/fail metric. Uses the same threshold machinery as the measured leaves
|
|
// so rollup(), formatting and comparison all keep working unchanged.
|
|
void verdict(TestSection& s, const std::string& name, const CheckResult& c) {
|
|
if (!c.ran) {
|
|
s.notes.push_back(name + ": not checked -- " + c.detail);
|
|
return;
|
|
}
|
|
auto& m = add(s, name, c.pass ? 1 : 0, "", /*lower_is_better=*/false);
|
|
thresh(m, 1);
|
|
s.notes.push_back(name + ": " + c.detail);
|
|
}
|
|
|
|
// Pull one axis's echo out of a DUMP, or -1 when the axis or field is absent.
|
|
long axisField(const DumpData& d, char code, long DumpAxis::*field) {
|
|
for (const auto& ax : d.axes)
|
|
if (ax.axis == code) return ax.*field;
|
|
return -1;
|
|
}
|
|
long echoSteps(const DumpData& d, char c) { return axisField(d, c, &DumpAxis::steps_per_rev); }
|
|
long echoDev(const DumpData& d, char c) { return axisField(d, c, &DumpAxis::enc_deviation); }
|
|
long echoSwMode(const DumpData& d, char c) { return axisField(d, c, &DumpAxis::sw_mode); }
|
|
long echoHomingSpeed(const DumpData& d, char c) { return axisField(d, c, &DumpAxis::homing_speed); }
|
|
long echoCenterSpeed(const DumpData& d, char c) { return axisField(d, c, &DumpAxis::center_speed); }
|
|
long echoSpeed(const DumpData& d, char c) { return axisField(d, c, &DumpAxis::speed); }
|
|
long echoLimp(const DumpData& d, char c) { return axisField(d, c, &DumpAxis::limp_home); }
|
|
|
|
// The VMAX a declared deg/s becomes on this axis, or 0 when it cannot be formed.
|
|
// Mirrors Application's fallback: the live calibration when it is trustworthy,
|
|
// otherwise the one the declaration implies.
|
|
long speedVmax(double deg_s, const AxisDrivetrainConfig& d, const AxisMap& map) {
|
|
if (deg_s <= 0.0) return 0;
|
|
const double live = std::fabs(map.counts_per_deg);
|
|
const double cpd = live >= kMinPlausibleCountsPerDeg ? map.counts_per_deg
|
|
: d.preHomeCountsPerDeg();
|
|
const auto p = planAxisSpeed(deg_s, cpd);
|
|
return p.ok ? p.vmax : 0;
|
|
}
|
|
|
|
std::string readSysfs(const std::string& path) {
|
|
if (path.empty()) return "";
|
|
std::ifstream f(path);
|
|
if (!f) return "";
|
|
std::string line;
|
|
std::getline(f, line);
|
|
return line;
|
|
}
|
|
|
|
} // namespace
|
|
|
|
void TestRunner::testHwAxes(TestReport& r) {
|
|
TestSection s; s.id = "hw_axes"; s.title = "declared axes vs telemetry";
|
|
setProgress(s.id, 1, 1, "reading telemetry");
|
|
|
|
if (!hw_.declared || !hw_.declared->declared) {
|
|
s.notes.push_back("no hardware.ini in force; nothing is declared to check against");
|
|
s.ran = false;
|
|
r.sections.push_back(std::move(s));
|
|
return;
|
|
}
|
|
|
|
// One ST line is enough: yaw is implied by any well-formed line, pitch by
|
|
// its own segment.
|
|
MotorTelemetry t = motor_.telemetry();
|
|
FoundHardware f;
|
|
// NEEDCFG counts as telemetry arriving: the link is fine and the axis is
|
|
// talking, it just has not been told what it is driving. Treating it as "no
|
|
// telemetry" would blame the serial port for a configuration gap.
|
|
f.axes_known = t.yaw.state != AxisState::Unknown;
|
|
if (f.axes_known) {
|
|
f.axes.push_back("yaw");
|
|
if (t.pitch_present) f.axes.push_back("pitch");
|
|
}
|
|
|
|
// Only the axis findings belong here; the sensors and cameras have their own
|
|
// leaves, and a declaration they disagree with would otherwise fail twice.
|
|
HardwareConfig axes_only;
|
|
axes_only.declared = true;
|
|
axes_only.source_path = hw_.declared->source_path;
|
|
axes_only.axes = hw_.declared->axes;
|
|
|
|
const PresenceReport pr = reconcilePresence(axes_only, f);
|
|
CheckResult c;
|
|
c.pass = !pr.anyMissing() && !pr.anyUndeclared();
|
|
if (c.pass) {
|
|
c.detail = "telemetry carries exactly the declared axes (" + axes_only.axesLabel() + ")";
|
|
} else {
|
|
for (const auto& line : formatPresence(pr))
|
|
c.detail += (c.detail.empty() ? "" : "; ") + line;
|
|
}
|
|
verdict(s, "axes_match", c);
|
|
|
|
rollup(s);
|
|
r.sections.push_back(std::move(s));
|
|
}
|
|
|
|
void TestRunner::testHwMotor(TestReport& r) {
|
|
TestSection s; s.id = "hw_motor"; s.title = "firmware adopted the declared drivetrain";
|
|
setProgress(s.id, 1, 1, "reading DUMP");
|
|
|
|
if (!hw_.drive) {
|
|
s.notes.push_back("no drivetrain declared; firmware defaults are in force");
|
|
s.ran = false;
|
|
r.sections.push_back(std::move(s));
|
|
return;
|
|
}
|
|
|
|
motor_.sendCommand("DUMP");
|
|
std::this_thread::sleep_for(250ms);
|
|
const DumpData d = parseDump(motor_.lastDump());
|
|
if (r.fw.empty() && !d.build.empty()) r.fw = d.build;
|
|
if (!d.valid) {
|
|
CheckResult c;
|
|
c.pass = false;
|
|
c.detail = "no parseable DUMP came back, so what the firmware is running could not be "
|
|
"confirmed";
|
|
verdict(s, "dump_readable", c);
|
|
rollup(s);
|
|
r.sections.push_back(std::move(s));
|
|
return;
|
|
}
|
|
|
|
auto check_axis = [&](const char* name, char code, const AxisDrivetrainConfig& cfg) {
|
|
// First, because it explains the rest. An axis on limp-home values will
|
|
// fail every comparison below, and that list of mismatched numbers reads
|
|
// as "host and firmware disagree" - sending someone to re-send values
|
|
// that were never sent at all.
|
|
verdict(s, std::string(name) + "_not_limp", checkNotLimpHome(name, echoLimp(d, code)));
|
|
|
|
DrivetrainExpectation want;
|
|
if (cfg.run_current_ma > 0.0 && cfg.r_sense_ohm > 0.0) {
|
|
const auto plan = planTmcCurrent(cfg.r_sense_ohm, cfg.run_current_ma,
|
|
cfg.homing_current_ma);
|
|
if (plan.ok) {
|
|
want.declared = true;
|
|
want.global_scaler = plan.global_scaler;
|
|
want.run_irun = plan.run_irun;
|
|
want.homing_irun = plan.homing_irun;
|
|
}
|
|
}
|
|
DrivetrainEcho got;
|
|
for (const auto& ax : d.axes)
|
|
if (ax.axis == code) {
|
|
got.global_scaler = ax.global_scaler;
|
|
got.run_irun = ax.run_irun;
|
|
got.homing_irun = ax.homing_irun;
|
|
}
|
|
verdict(s, std::string(name) + "_current", checkDrivetrainAdopted(name, want, got));
|
|
|
|
// Everything else the host declares and the firmware is told. Before the
|
|
// config handshake these lived only in the firmware's own table, where a
|
|
// stale or defaulted value was invisible from here.
|
|
const AxisMap& map = (code == 'Y') ? hw_.geo_yaw : hw_.geo_pitch;
|
|
const long want_normal = speedVmax(cfg.scan_speed_deg_s, cfg, map);
|
|
const DeclaredValue vals[] = {
|
|
{"steps_per_rev", cfg.steps_per_rev > 0, cfg.steps_per_rev, echoSteps(d, code)},
|
|
{"enc_deviation", cfg.enc_deviation > 0, cfg.enc_deviation, echoDev(d, code)},
|
|
{"sw_mode", cfg.wiring_declared, (long)cfg.sw_mode, echoSwMode(d, code)},
|
|
{"homing_speed", cfg.homing_speed_deg_s > 0,
|
|
speedVmax(cfg.homing_speed_deg_s, cfg, map), echoHomingSpeed(d, code)},
|
|
{"center_speed", cfg.center_speed_deg_s > 0,
|
|
speedVmax(cfg.center_speed_deg_s, cfg, map), echoCenterSpeed(d, code)},
|
|
{"normal_speed", want_normal > 0, want_normal, echoSpeed(d, code)},
|
|
};
|
|
verdict(s, std::string(name) + "_declared",
|
|
checkDeclaredValues(name, vals, (int)(sizeof(vals) / sizeof(vals[0]))));
|
|
|
|
// The wiring the image was built from, which no SET can change.
|
|
if (hw_.declared) {
|
|
const auto& p = hw_.declared->pins;
|
|
const bool yaw = code == 'Y';
|
|
long cs = -1, en = -1;
|
|
for (const auto& ax : d.axes)
|
|
if (ax.axis == code) { cs = ax.cs_pin; en = ax.en_pin; }
|
|
const DeclaredValue pins[] = {
|
|
{"cs", (yaw ? p.yaw_cs : p.pitch_cs) >= 0, yaw ? p.yaw_cs : p.pitch_cs, cs},
|
|
{"en", (yaw ? p.yaw_en : p.pitch_en) >= 0, yaw ? p.yaw_en : p.pitch_en, en},
|
|
};
|
|
verdict(s, std::string(name) + "_pins", checkPinsBuilt(name, pins, 2));
|
|
}
|
|
};
|
|
check_axis("yaw", 'Y', hw_.drive->yaw);
|
|
if (!hw_.declared || hw_.declared->hasAxis("pitch")) check_axis("pitch", 'P', hw_.drive->pitch);
|
|
|
|
// SPI is a choice only on the RP2040, so only there is it declared and echoed.
|
|
if (hw_.declared && hw_.declared->pins.spi_sck >= 0) {
|
|
const auto& p = hw_.declared->pins;
|
|
const DeclaredValue spi[] = {
|
|
{"spi_sck", true, p.spi_sck, d.spi_sck},
|
|
{"spi_mosi", p.spi_mosi >= 0, p.spi_mosi, d.spi_mosi},
|
|
{"spi_miso", p.spi_miso >= 0, p.spi_miso, d.spi_miso},
|
|
};
|
|
verdict(s, "spi_pins", checkPinsBuilt("spi", spi, 3));
|
|
}
|
|
|
|
rollup(s);
|
|
r.sections.push_back(std::move(s));
|
|
}
|
|
|
|
void TestRunner::testHwImu(TestReport& r) {
|
|
TestSection s; s.id = "hw_imu"; s.title = "declared IMU is present and streaming";
|
|
setProgress(s.id, 1, 1, "sampling");
|
|
|
|
const bool declared =
|
|
hw_.declared && hw_.declared->declared && !hw_.declared->imu.empty() &&
|
|
hw_.declared->imu != "none";
|
|
if (!declared) {
|
|
s.notes.push_back("no IMU declared");
|
|
s.ran = false;
|
|
r.sections.push_back(std::move(s));
|
|
return;
|
|
}
|
|
|
|
CheckResult c;
|
|
if (!imu_) {
|
|
c.pass = false;
|
|
c.detail = "declared as '" + hw_.declared->imu +
|
|
"' but no IMU source was built -- check [IMU] device; the declaration itself is "
|
|
"what enables it";
|
|
} else if (!imu_->connected()) {
|
|
c.pass = false;
|
|
c.detail = "source exists but is not connected -- the port opened without a 0xFA-framed "
|
|
"stream arriving; check the baud and that it is the MTi's node";
|
|
} else if (!imu_->sample()) {
|
|
c.pass = false;
|
|
c.detail = "connected but no sample within the staleness window -- the stream stalled";
|
|
} else {
|
|
c.detail = "'" + hw_.declared->imu + "' streaming";
|
|
}
|
|
verdict(s, "imu_streaming", c);
|
|
|
|
rollup(s);
|
|
r.sections.push_back(std::move(s));
|
|
}
|
|
|
|
void TestRunner::testHwEnv(TestReport& r) {
|
|
TestSection s; s.id = "hw_env"; s.title = "declared ambient sensor, on a real I2C bus";
|
|
setProgress(s.id, 1, 2, "probing bus");
|
|
|
|
const bool declared =
|
|
hw_.declared && hw_.declared->declared && !hw_.declared->env.empty() &&
|
|
hw_.declared->env != "none";
|
|
if (!declared) {
|
|
s.notes.push_back("no ambient sensor declared");
|
|
s.ran = false;
|
|
r.sections.push_back(std::move(s));
|
|
return;
|
|
}
|
|
|
|
// The adapter class first: an SMBus-only bus makes every later symptom look
|
|
// like a dead sensor, so naming it first is what saves the debugging time.
|
|
if (hw_.i2c_device.empty()) {
|
|
CheckResult c;
|
|
c.pass = false;
|
|
c.detail = "declared as '" + hw_.declared->env + "' but [Env] i2c_device is empty";
|
|
verdict(s, "i2c_adapter", c);
|
|
} else {
|
|
I2cBus bus(hw_.i2c_device, 0x44);
|
|
unsigned long funcs = 0;
|
|
CheckResult c;
|
|
if (!bus.open()) {
|
|
c.pass = false;
|
|
c.detail = "cannot open " + hw_.i2c_device +
|
|
" -- wrong bus number, or the user is not in the i2c group";
|
|
} else if (!bus.functionality(funcs)) {
|
|
c.pass = false;
|
|
c.detail = "I2C_FUNCS ioctl failed on " + hw_.i2c_device;
|
|
} else {
|
|
c = checkI2cFunctionality(funcs);
|
|
c.detail = hw_.i2c_device + ": " + c.detail;
|
|
}
|
|
verdict(s, "i2c_adapter", c);
|
|
}
|
|
|
|
setProgress(s.id, 2, 2, "reading sensor");
|
|
CheckResult m;
|
|
if (!hw_.env) {
|
|
m.pass = false;
|
|
m.detail = "declared as '" + hw_.declared->env +
|
|
"' but no sensor was built -- check [Env] i2c_device; the declaration itself is "
|
|
"what enables it";
|
|
} else if (auto sample = hw_.env->sample()) {
|
|
m.detail = "CRC-valid reading from " + hw_.env->name();
|
|
} else {
|
|
m.pass = false;
|
|
m.detail = "no valid reading within the staleness window -- every transfer is failing, or "
|
|
"the CRC never checks out";
|
|
}
|
|
verdict(s, "env_reading", m);
|
|
|
|
rollup(s);
|
|
r.sections.push_back(std::move(s));
|
|
}
|
|
|
|
void TestRunner::testHwCamera(TestReport& r) {
|
|
TestSection s; s.id = "hw_camera"; s.title = "cameras present, and the USB preconditions";
|
|
setProgress(s.id, 1, 2, "counting cameras");
|
|
|
|
// The USB preconditions are preconditions FOR A CAMERA. With none configured
|
|
// and no source built, there is nothing they could be protecting, and
|
|
// checking them would fail a dev box for a fault it cannot have.
|
|
if (hw_.configured_cameras.empty() && !hw_.camera) {
|
|
s.notes.push_back("no cameras configured; the USB preconditions have nothing to protect");
|
|
s.ran = false;
|
|
r.sections.push_back(std::move(s));
|
|
return;
|
|
}
|
|
|
|
if (!hw_.configured_cameras.empty()) {
|
|
CheckResult c;
|
|
const int want = static_cast<int>(hw_.configured_cameras.size());
|
|
const int got = hw_.camera ? hw_.camera->cameraCount() : -1;
|
|
if (got < 0) {
|
|
c.ran = false;
|
|
c.detail = "no camera source in this run";
|
|
} else if (got < want) {
|
|
c.pass = false;
|
|
c.detail = std::to_string(want) + " configured, only " + std::to_string(got) +
|
|
" opened -- one is not on the bus or is held by another process";
|
|
} else {
|
|
c.detail = std::to_string(got) + " of " + std::to_string(want) + " opened";
|
|
}
|
|
verdict(s, "cameras_found", c);
|
|
}
|
|
|
|
setProgress(s.id, 2, 2, "USB preconditions");
|
|
verdict(s, "usbfs_memory", checkUsbfsMemory(readSysfs(hw_.usbfs_path), hw_.usbfs_min_mb));
|
|
|
|
// LPM lives on a port node that differs per machine, so it is checked only
|
|
// when the path is known. Silence here means "not located", never "fine".
|
|
if (!hw_.lpm_path.empty()) {
|
|
verdict(s, "usb3_lpm", checkUsb3Lpm(readSysfs(hw_.lpm_path)));
|
|
} else {
|
|
s.notes.push_back(
|
|
"usb3_lpm: not checked -- no port node configured. Known-issues #19 has how to find "
|
|
"and persist it; it re-enables on every reboot without a udev rule");
|
|
}
|
|
|
|
rollup(s);
|
|
r.sections.push_back(std::move(s));
|
|
}
|
|
|
|
} // namespace fgc
|