Fix tests (#131)

* Fixed some small compilation bugs. Implemented string::trim for test compatibility.

* Fixed project hierarchy

* Added unit tests to the project again.

* Fixed a bunch of small compilation issues. Linker and library issues remain.

* Moved TestSupport. Added documentation. Fixed test framework. Stuff works again!

Co-authored-by: Stefan de Bruijn <[email protected]>

Author: atlaste

FluidNC.sln

@@ -18,7 +18,6 @@ Global
 		{11C8A44F-A303-4885-B5AD-5B65F7FE41C0}.Debug|x64.ActiveCfg = Debug|x64
 		{11C8A44F-A303-4885-B5AD-5B65F7FE41C0}.Debug|x64.Build.0 = Debug|x64
 		{11C8A44F-A303-4885-B5AD-5B65F7FE41C0}.Debug|x86.ActiveCfg = Debug|Win32
-		{11C8A44F-A303-4885-B5AD-5B65F7FE41C0}.Debug|x86.Build.0 = Debug|Win32
 		{11C8A44F-A303-4885-B5AD-5B65F7FE41C0}.Release|x64.ActiveCfg = Release|x64
 		{11C8A44F-A303-4885-B5AD-5B65F7FE41C0}.Release|x64.Build.0 = Release|x64
 		{11C8A44F-A303-4885-B5AD-5B65F7FE41C0}.Release|x86.ActiveCfg = Release|Win32

FluidNC/src/Kinematics/Cartesian.cpp

@@ -31,7 +31,7 @@ namespace Kinematics {
         auto axes   = config->_axes;
         auto n_axis = config->_axes->_numberAxis;
 
-        float cartesian[n_axis];
+        float cartesian[MAX_N_AXIS];
         motors_to_cartesian(cartesian, target, n_axis);  // Convert to cartesian then check
 
         bool limit_error = false;

FluidNC/src/Kinematics/CoreXY.cpp

@@ -216,7 +216,7 @@ namespace Kinematics {
 
         auto n_axis = config->_axes->_numberAxis;
 
-        float mpos[n_axis] = { 0 };
+        float mpos[MAX_N_AXIS] = { 0 };
 
         // Set machine positions for homed limit switches. Don't update non-homed axes.
         for (int axis = 0; axis < n_axis; axis++) {
@@ -231,7 +231,7 @@ namespace Kinematics {
             }
         }
 
-        float motors_mm[n_axis];
+        float motors_mm[MAX_N_AXIS];
         transform_cartesian_to_motors(motors_mm, mpos);
 
         // the only single axis homing allowed is Z and above
@@ -284,11 +284,11 @@ namespace Kinematics {
 
         auto n_axis = config->_axes->_numberAxis;
 
-        float motors[n_axis];
+        float motors[MAX_N_AXIS];
         transform_cartesian_to_motors(motors, target);
 
         if (!pl_data->motion.rapidMotion) {
-            float last_motors[n_axis];
+            float last_motors[MAX_N_AXIS];
             transform_cartesian_to_motors(last_motors, position);
             pl_data->feed_rate *= (three_axis_dist(motors, last_motors) / dist);
         }

FluidNC/src/Machine/Homing.cpp

@@ -8,6 +8,8 @@
 #include "../Machine/Axes.h"
 #include "../Machine/MachineConfig.h"  // config
 
+#include <cmath>
+
 namespace Machine {
     // Calculate the motion for the next homing move.
     //  Input: axesMask - the axes that should participate in this homing cycle

FluidNC/src/Main.cpp

@@ -2,26 +2,28 @@
 // Copyright (c) 2018 -	Bart Dring
 // Use of this source code is governed by a GPLv3 license that can be found in the LICENSE file.
 
-#include "Main.h"
-#include "Machine/MachineConfig.h"
-
-#include "Config.h"
-#include "Report.h"
-#include "Settings.h"
-#include "SettingsDefinitions.h"
-#include "Limits.h"
-#include "Protocol.h"
-#include "System.h"
-#include "Uart.h"
-#include "MotionControl.h"
-#include "Platform.h"
-
-#include "WebUI/TelnetServer.h"
-#include "WebUI/Serial2Socket.h"
-#include "WebUI/InputBuffer.h"
-
-#include "WebUI/WifiConfig.h"
-#include <SPIFFS.h>
+#ifndef UNIT_TEST
+
+#    include "Main.h"
+#    include "Machine/MachineConfig.h"
+
+#    include "Config.h"
+#    include "Report.h"
+#    include "Settings.h"
+#    include "SettingsDefinitions.h"
+#    include "Limits.h"
+#    include "Protocol.h"
+#    include "System.h"
+#    include "Uart.h"
+#    include "MotionControl.h"
+#    include "Platform.h"
+
+#    include "WebUI/TelnetServer.h"
+#    include "WebUI/Serial2Socket.h"
+#    include "WebUI/InputBuffer.h"
+
+#    include "WebUI/WifiConfig.h"
+#    include <SPIFFS.h>
 
 extern void make_user_commands();
 
@@ -125,7 +127,7 @@ void setup() {
 }
 
 static void reset_variables() {
-#ifdef DEBUG_STEPPING
+#    ifdef DEBUG_STEPPING
     rtTestPl    = false;
     rtTestSt    = false;
     st_seq      = 0;
@@ -134,7 +136,7 @@ static void reset_variables() {
     seg_seq0    = 0;
     seg_seq1    = 0;
     planner_seq = 0;
-#endif
+#    endif
     // Reset primary systems.
     system_reset();
     protocol_reset();
@@ -195,12 +197,14 @@ void loop() {
 
 void WEAK_LINK machine_init() {}
 
-#if 0
+#    if 0
 int main() {
     setup();  // setup()
     while (1) {   // loop()
         loop();
     }
     return 0;
 }
+#    endif
+
 #endif

FluidNC/src/MotionControl.cpp

@@ -15,6 +15,8 @@
 #include "InputFile.h"       // infile
 #include "Platform.h"        // WEAK_LINK
 
+#include <cmath>
+
 // M_PI is not defined in standard C/C++ but some compilers
 // support it anyway.  The following suppresses Intellisense
 // problem reports.

FluidNC/src/Motors/Dynamixel2.cpp

@@ -22,6 +22,7 @@
 #include "../Planner.h"    // plan_sync_position()
 
 #include <cstdarg>
+#include <cmath>
 
 namespace MotorDrivers {
     bool    MotorDrivers::Dynamixel2::_uart_started      = false;

FluidNC/src/Motors/Servo.cpp

@@ -38,7 +38,7 @@ namespace MotorDrivers {
             xTaskCreatePinnedToCore(updateTask,         // task
                                     "servoUpdateTask",  // name for task
                                     4096,               // size of task stack
-                                    (void*)_timer_ms,   // parameters
+                                    (void*)&_timer_ms,  // parameters
                                     1,                  // priority
                                     NULL,               // handle
                                     SUPPORT_TASK_CORE   // core
@@ -48,7 +48,7 @@ namespace MotorDrivers {
 
     void Servo::updateTask(void* pvParameters) {
         TickType_t       xLastWakeTime;
-        const TickType_t xUpdate = TickType_t(pvParameters) / portTICK_PERIOD_MS;  // in ticks (typically ms)
+        const TickType_t xUpdate = *static_cast<TickType_t*>(pvParameters) / portTICK_PERIOD_MS;  // in ticks (typically ms)
         auto             n_axis  = config->_axes->_numberAxis;
 
         xLastWakeTime = xTaskGetTickCount();  // Initialise the xLastWakeTime variable with the current time.

FluidNC/src/NutsBolts.cpp

@@ -10,6 +10,7 @@
 
 #include <cstring>
 #include <cstdint>
+#include <cmath>
 
 const int MAX_INT_DIGITS = 8;  // Maximum number of digits in int32 (and float)
 

FluidNC/src/Planner.cpp

@@ -13,7 +13,8 @@
 
 #include "Machine/MachineConfig.h"
 
-#include <stdlib.h>  // PSoc Required for labs
+#include <cstdlib>  // PSoc Required for labs
+#include <cmath>
 
 static plan_block_t block_buffer[BLOCK_BUFFER_SIZE];  // A ring buffer for motion instructions
 static uint8_t      block_buffer_tail;                // Index of the block to process now