/* Test several threads running (*body)(struct test *m) for increasing settings
of m->iterations, until about timeout_s to 2*timeout_s seconds have elapsed.
If extra!=NULL, run (*extra)(m) in an additional thread. */
static void test(const char *name, void (*body)(void *m),
void (*extra)(void *m), int timeout_s) {
gpr_int64 iterations = 1024;
struct test *m;
gpr_timespec start = gpr_now(GPR_CLOCK_REALTIME);
gpr_timespec time_taken;
gpr_timespec deadline = gpr_time_add(
start, gpr_time_from_micros(timeout_s * 1000000, GPR_TIMESPAN));
fprintf(stderr, "%s:", name);
while (gpr_time_cmp(gpr_now(GPR_CLOCK_REALTIME), deadline) < 0) {
iterations <<= 1;
fprintf(stderr, " %ld", (long)iterations);
m = test_new(10, iterations);
if (extra != NULL) {
gpr_thd_id id;
GPR_ASSERT(gpr_thd_new(&id, extra, m, NULL));
m->done++; /* one more thread to wait for */
}
test_create_threads(m, body);
test_wait(m);
if (m->counter != m->threads * m->iterations) {
fprintf(stderr, "counter %ld threads %d iterations %ld\n",
(long)m->counter, m->threads, (long)m->iterations);
GPR_ASSERT(0);
}
test_destroy(m);
}
time_taken = gpr_time_sub(gpr_now(GPR_CLOCK_REALTIME), start);
fprintf(stderr, " done %ld.%09d s\n", (long)time_taken.tv_sec,
(int)time_taken.tv_nsec);
}
bool test_is_Wheel_Direction_Right(uint8_t pMotorId){
//flush encodeur
quad_readCounters(&HandleRobot.HandleQuad[0]);
quad_readCounters(&HandleRobot.HandleQuad[1]);
dcMotor_setDirection(&HandleRobot.HandleMotor[pMotorId],RIGHT);
dcMotor_setPWM(&HandleRobot.HandleMotor[pMotorId],900);
test_wait();
dcMotor_setPWM(&HandleRobot.HandleMotor[pMotorId],EPWM_BRAKE);
test_wait();
quad_readCounters(&HandleRobot.HandleQuad[0]);
quad_readCounters(&HandleRobot.HandleQuad[1]);
int16_t lCount = 0;
if(pMotorId == 0){
lCount = HandleRobot.HandleQuad[0].Count0;
}
else if(pMotorId == 1){
lCount = HandleRobot.HandleQuad[0].Count1;
}
else if(pMotorId == 2){
lCount = HandleRobot.HandleQuad[1].Count0;
}
else if(pMotorId == 3){
lCount = HandleRobot.HandleQuad[1].Count1;
}
if(lCount > 0){
System_printf("Right Direction Motor %d [OK]\r\n",pMotorId);
return true;
}
else{
System_printf("Right Direction Motor %d [Fail]\r\n",pMotorId);
return false;
}
}
bool test_is_Encoder_is_Matched_With_Wheel(uint8_t pMotorId){
//flush encodeur
quad_readCounters(&HandleRobot.HandleQuad[0]);
quad_readCounters(&HandleRobot.HandleQuad[1]);
dcMotor_setPWM(&HandleRobot.HandleMotor[pMotorId],900);
test_wait();
dcMotor_setPWM(&HandleRobot.HandleMotor[pMotorId],EPWM_BRAKE);
test_wait();
quad_readCounters(&HandleRobot.HandleQuad[0]);
quad_readCounters(&HandleRobot.HandleQuad[1]);
int16_t lCount = 0;
if(pMotorId == 0){
lCount = HandleRobot.HandleQuad[0].Count0;
}
else if(pMotorId == 1){
lCount = HandleRobot.HandleQuad[0].Count1;
}
else if(pMotorId == 2){
lCount = HandleRobot.HandleQuad[1].Count0;
}
else if(pMotorId == 3){
lCount = HandleRobot.HandleQuad[1].Count1;
}
if(lCount != 0){
System_printf("Encoder %d [OK]\r\n",pMotorId);
return true;
}
else{
System_printf("Encoder %d [Fail]\r\n",pMotorId);
return false;
}
}
int
main(int argc, char **argv)
{
test_create_dynamic() ;
test_create_static() ;
test_thread_create() ;
test_yield() ;
test_wait() ;
test_broadcast() ;
test_pc() ;
test_pc_big() ;
test_recursive() ;
test_sem() ;
test_lock() ;
test_func_pointer() ;
test_ready() ;
test_kill() ;
test_reset() ;
return 0 ;
}
void test_is_Wheel_System_Working_Well(){
bool lSuccess = true;
System_printf("*******Wheel testing********\r\n");
//flush encodeur
quad_readCounters(&HandleRobot.HandleQuad[0]);
quad_readCounters(&HandleRobot.HandleQuad[1]);
//MotorRotation
dcMotor_setPWM(&HandleRobot.HandleMotor[0],900);
dcMotor_setPWM(&HandleRobot.HandleMotor[1],900);
dcMotor_setPWM(&HandleRobot.HandleMotor[2],900);
dcMotor_setPWM(&HandleRobot.HandleMotor[3],900);
test_wait();
dcMotor_setPWM(&HandleRobot.HandleMotor[0],EPWM_BRAKE);
dcMotor_setPWM(&HandleRobot.HandleMotor[1],EPWM_BRAKE);
dcMotor_setPWM(&HandleRobot.HandleMotor[2],EPWM_BRAKE);
dcMotor_setPWM(&HandleRobot.HandleMotor[3],EPWM_BRAKE);
test_wait();
quad_readCounters(&HandleRobot.HandleQuad[0]);
quad_readCounters(&HandleRobot.HandleQuad[1]);
if(HandleRobot.HandleQuad[0].Count0 != 0){
System_printf("Wheel 0 [OK]\r\n");
}
else{
System_printf("Wheel 0 [FAIL]\r\n");
lSuccess = false;
}
if(HandleRobot.HandleQuad[0].Count1 != 0){
System_printf("Wheel 1 [OK]\r\n");
}
else{
System_printf("Wheel 1 [FAIL]\r\n");
lSuccess = false;
}
if(HandleRobot.HandleQuad[1].Count0 != 0){
System_printf("Wheel 2 [OK]\r\n");
}
else{
System_printf("Wheel 2 [FAIL]\r\n");
lSuccess = false;
}
if(HandleRobot.HandleQuad[1].Count1 != 0){
System_printf("Wheel 3 [OK]\r\n");
}
else{
System_printf("Wheel 3 [FAIL]\r\n");
lSuccess = false;
}
System_flush();
if(lSuccess){
System_printf("[SUCCESS]\r\n");
}
else{
System_printf("[FAILURE]\r\n");
}
System_flush();
}