Tasks: Rafactoring, Realtime Behavior, …#

How to include files#

  • file.cpp includes its own file.h, or any other file from the same directory. Such files are included like #include ""

    • Right: #include "file.h"

    • Wrong: #include <door/file.h>

    $ pwd
/home/jfasch/My-Projects/FH-STECE2023/src/door
$ grep 'door/' *.h *.cpp
event-edge-detector.h:#include <door/input-switch.h>
event-edge-detector.h:#include <door/timespec.h>
outputs.h:#include <door/structs.h>
outputs.h:#include <door/motor.h>
event-edge-detector.cpp:#include <door/event-edge-detector.h>
outputs.cpp:#include <door/motor.h>

  • file.h or file.cpp in directory A includes anotherfile.h from directory B

    • Wrong: #include <../B/anotherfile.h>

    • Right: #include <B/anotherfile.h> - and a dependency declaration A -> B in A/CMakeLists.txt

    $ pwd
/home/jfasch/My-Projects/FH-STECE2023/tests
$ grep 'include.*\.\.' *.cpp
input-switch-gpio-tests.cpp:#include "../src/door/input-switch-gpio.h"
light-barrier-gpio-tests.cpp:#include "../src/door/light-barrier-gpio.h"
motorLED-tests.cpp:#include "../src/door/motorLED.h"
motor-stepper-tests.cpp:#include "../src/door/motor-stepper.h"
push-button-gpio-test.cpp:#include "../src/door/push-button-gpio.h"

Remove Light Barrier And Push Putton (In Favor Of {in,out}put-switch*)#

door/CMakeLists.txt#
light-barrier.h
light-barrier-mock.h
light-barrier-mock.cpp

push-button.h
push-button-mock.h
push-button-mock.cpp

SPS Machinery: State Machine Not As It Was Before#

State OPENING not implemented as it was in old implementation. Old code is still there in comments, but not implemented in the new version.

Comment TEST(door_suite, straightforward_open) back in and see.

SPS Machinery: Cosmetics#

  • class Inputs: names _button / _button2 and _lightbarrier / _lightbarrier2 don’t speak

  • door/structs.h

    • File naming could be done better

    • typedef not necessary in C++

Switches#

src/door/input-switch-gpio.h: ctor takes unsigned int* line_number - why pointer? (output switch does not.)

ADC/ADS1115#

  • War da nicht eine Schwellwert-Trigger-Sache ausgemacht?

  • What does PR’s adc test works when joystick is not moved and fails if moved. mean?

  • get_value(): usleep(8 * 1000) is not good for realtime operation. can the device do continuous conversion?

  • Clarify future use (motor is stuck)

Motor/Stepper#

  • writeData(): use raw file IO

  • Use OutputSwitchGPIO rather than libgpiod directly