Run-time hardware tests and other changes

.gitmodules

@@ -1,9 +1,6 @@
 [submodule "libraries/PacketSerial"]
 	path = libraries/PacketSerial
 	url = https://github.com/bakercp/PacketSerial.git
-[submodule "libraries/SerialCommand"]
-	path = libraries/SerialCommand
-	url = https://github.com/kroimon/Arduino-SerialCommand.git
 [submodule "libraries/SoftI2CMaster"]
 	path = libraries/SoftI2CMaster
 	url = https://github.com/todbot/SoftI2CMaster.git

.travis.yml

@@ -1,23 +1,21 @@
 matrix:
   include:
   - language: cpp
-    dist: bionic
+    dist: focal
     addons:
       apt:
         sources:
         - ubuntu-toolchain-r-test
-        packages:
-        - g++
     env:
-    - MATRIX_EVAL="CC=gcc-7 && CXX=g++-7"
+    - MATRIX_EVAL="CC=gcc-9 && CXX=g++-9"
     before_install:
     - eval "${MATRIX_EVAL}"
     - pip install gcovr
     - gcovr --version
     script:
     - "./test/test.sh"
   - language: c
-    dist: bionic
+    dist: focal
     addons:
         apt:
             packages:

CHANGELOG.md

@@ -8,10 +8,15 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## 1.0.0 / Unreleased
 
+* Migrate to AYAB API v6
+* Remove dependency on SerialCommand library
+* Add informative error codes
+* Allow carriage to start on the right-hand side moving left
+* Add run-time hardware tests
 * Migrate to generic firmware from machine-specific versions
 * Change libraries to submodules
 * Add unit tests that can run in the absence of the hardware
-* Add GPLv3 license for the repository, and LGPLv2.1 for the SerialCommand library
+* Add GPLv3 license
 * Add development environment documentation to README
 * Add firmware update instructions to README
 * Add CHANGELOG.md

README.md

@@ -20,41 +20,45 @@ In [ayab-desktop](https://github.com/AllYarnsAreBeautiful/ayab-desktop): go to T
 
 To set up a working development environment follow these steps:
 
- 0. Clone the repository and update all submodules
+ 0. Clone the repository and update all submodules.
 
-    `git clone --recurse-submodules https://github.com/AllYarnsAreBeautiful/ayab-firmware.git ayab`
+    Ubuntu:
+    ```bash
+    sudo apt install -y git
+    git clone --recurse-submodules https://github.com/AllYarnsAreBeautiful/ayab-firmware.git ayab
+    ```
 
- 1. Install the [Arduino.mk](https://github.com/sudar/Arduino-Makefile) package and setup environment variables
+ 1. Install the [Arduino.mk](https://github.com/sudar/Arduino-Makefile) package and setup environment variables.
 
     Ubuntu:
     ```bash
-    sudo apt install arduino-mk
+    sudo apt install -y arduino-mk cmake
     export ARDMK_DIR=/usr/share/arduino
     ```
-    Running ./build.sh should work now.
+ Running `./build.sh` should work now.
 
- 2. Install clang-format and gcovr
+
+ 2. Install `clang-format`, `gcovr`, and update `gcc` to version 9.
 
     Ubuntu:
     ```bash
-    sudo apt install clang-format gcovr
+    sudo apt install -y clang-format gcovr \
+                        gcc-9 g++-9 cpp-9 gcc-9-base gcc-10-base \
+                        libgcc-9-dev libstdc++-9-dev
     ```
 
- 3. Install [pre-commit](https://pre-commit.com/) via pip and use it to install git hooks
-
-    ```bash
+ 3. Install [pre-commit](https://pre-commit.com/) via pip and use it to install git hooks.
+    ```
     pip3 install --user pre-commit
     pre-commit install
     ```
 
- 4. Optionally create a pre-push hook
+ 4. Optionally create a pre-push hook.
 
-    Add the following snippet in a file called .git/hooks/pre-push
-    ```bash
+ Add the following snippet in a file called `.git/hooks/pre-push`:
+    ```
     #!/bin/bash
     set -e
-
     ./build.sh
     ./test/test.sh -c
     ```
-

doc/finite_state_machine.md

@@ -1,27 +1,23 @@
-# Finite State Machine
+### Finite State Machine
 
-The knitting machine finite state machine is defined in the Knitter class.
+The finite state machine is defined in the `Fsm` class.
 
-A graphical representation follows.
+|State||
+--:|:--
+`Init` | Wait for carriage to be put in the correct location.
+`Ready` | Wait to start operation.
+`Knit` | Knitting mode.
+`Test` | Hardware testing mode.
+|||
 
-\startuml
-skinparam shadowing false
-skinparam ArrowColor DimGray
-skinparam state {
-  backgroundColor LightSteelBlue
-  BorderColor Gray
-}
-hide empty description
+A tabular representation of state transitions follows.
 
-Init : Wait for carriage to be put in the correct location.
-Ready: Wait to start operation.
-Operate: Knit.
-Test: Calculate but don't exercise solenoids.
+|Transition||
+--:|:--
+`Init  -> Test`  |`Tester::startTest()`  
+`Ready -> Test`  |`Tester::startTest()`  
+`Test -> Init` | `Tester::quitCmd()`
+`Init  -> Ready` | `Knitter::isReady()`
+`Ready -> Knit` | `Knitter::startKnitting()`
+`Knit  -> Ready` | `m_workedOnLine && m_lastLineFlag`
 
-Reset --> Init
-Init --> Test : startTest()
-Ready --> Test : startTest()
-Init -> Ready : Direction == Right\n&& HallActive == Left
-Ready -> Operate : startOperation()
-Operate -> Ready : lastLine()\n&& finished
-\enduml

src/ayab/Makefile

@@ -6,7 +6,7 @@
 PROJECT_DIR = $(shell dirname $(shell pwd))/..
 $(info $(PROJECT_DIR))
 
-ARDUINO_LIBS = Wire Adafruit_MCP23008 SoftI2CMaster PacketSerial SerialCommand
+ARDUINO_LIBS = Wire Adafruit_MCP23008 SoftI2CMaster PacketSerial
 USER_LIB_PATH = $(realpath $(PROJECT_DIR)/libraries)
 
 TARGET = ayab

src/ayab/beeper.cpp

@@ -1,5 +1,7 @@
 /*!
  * \file beeper.cpp
+ * \brief Class containing methods to actuate a beeper connected
+ *    to PIEZO_PIN.
  *
  * This file is part of AYAB.
  *

src/ayab/beeper.h

@@ -36,19 +36,46 @@ constexpr uint8_t BEEP_ON_DUTY = 0U;
 constexpr uint8_t BEEP_OFF_DUTY = 20U;
 constexpr uint8_t BEEP_NO_DUTY = 255U;
 
-/*!
- *  Class to actuate a beeper connected to PIEZO_PIN
- */
-class Beeper {
+class BeeperInterface {
+public:
+  virtual ~BeeperInterface(){};
+
+  // any methods that need to be mocked should go here
+  virtual void ready() = 0;
+  virtual void finishedLine() = 0;
+  virtual void endWork() = 0;
+};
+
+// Container class for the static methods that control the beeper.
+// Dependency injection is enabled using a pointer to a global instance of
+// either `Beeper` or `BeeperMock`, both of which classes implement the
+// pure virtual methods of `BeeperInterface`.
+
+class GlobalBeeper final {
+private:
+  // singleton class so private constructor is appropriate
+  GlobalBeeper() = default;
+
 public:
-  Beeper() = default;
+  // pointer to global instance whose methods are implemented
+  static BeeperInterface *m_instance;
 
   static void ready();
   static void finishedLine();
   static void endWork();
+};
+
+/*!
+ * \brief Class to actuate a beeper connected to PIEZO_PIN
+ */
+class Beeper : public BeeperInterface {
+public:
+  void ready();
+  void finishedLine();
+  void endWork();
 
 private:
-  static void beep(uint8_t length);
+  void beep(uint8_t length);
 };
 
-#endif  // BEEPER_H_
+#endif // BEEPER_H_

src/ayab/board.h

@@ -48,7 +48,7 @@ constexpr uint8_t I2Caddr_sol1_8 = 0x0U;  ///< I2C Address of solenoids 1 - 8
 constexpr uint8_t I2Caddr_sol9_16 = 0x1U; ///< I2C Address of solenoids 9 - 16
 
 // TODO(Who?): Optimize Delay for various Arduino Models
-constexpr uint16_t START_OPERATION_DELAY = 2000U;
+constexpr uint16_t START_KNITTING_DELAY = 2000U;
 
 // Determine board type
 #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
@@ -63,4 +63,4 @@ constexpr uint16_t START_OPERATION_DELAY = 2000U;
 #error "untested board - please check your I2C ports"
 #endif
 
-#endif  // BOARD_H_
+#endif // BOARD_H_