From 5aa6f7abfcb389d10893329b51c3a884e24729a1 Mon Sep 17 00:00:00 2001 From: Yug-Vashisth Date: Tue, 18 Mar 2025 19:25:15 -0400 Subject: [PATCH 01/23] pushing empty files --- motors/motor_api.c | 0 motors/motor_api.h | 0 2 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 motors/motor_api.c create mode 100644 motors/motor_api.h diff --git a/motors/motor_api.c b/motors/motor_api.c new file mode 100644 index 0000000..e69de29 diff --git a/motors/motor_api.h b/motors/motor_api.h new file mode 100644 index 0000000..e69de29 From ccbd7521b12a4643dedbc429b23face4474c84bd Mon Sep 17 00:00:00 2001 From: Yug-Vashisth Date: Tue, 18 Mar 2025 19:35:27 -0400 Subject: [PATCH 02/23] added ritiviks code for reference... can start making changes now --- motors/motor_api.c | 0 motors/motor_api.cpp | 142 +++++++++++++++++++++++++++++++++++++++++++ motors/motor_api.h | 0 3 files changed, 142 insertions(+) delete mode 100644 motors/motor_api.c create mode 100644 motors/motor_api.cpp delete mode 100644 motors/motor_api.h diff --git a/motors/motor_api.c b/motors/motor_api.c deleted file mode 100644 index e69de29..0000000 diff --git a/motors/motor_api.cpp b/motors/motor_api.cpp new file mode 100644 index 0000000..57acd78 --- /dev/null +++ b/motors/motor_api.cpp @@ -0,0 +1,142 @@ +/* + * IMPORTANT: libmodbus is a C library, so we have to be careful and use c-style notation while using C++ + * i.e. use C-style string literals instead of std::string + * + * Q: Why use libmodbus over a C++ library? + * A: + * - Most commonly used library for modbus RTU in C/C++. + * - Amazing Reference guide +*/ + +#include +#include +#include +#include +#include + +// Initialize Modbus RTU connection +modbus_t* init_modbus(const char* device, int slave_id) { + + // DEBUGGING + // According to the user manual, the motor expects the data format to have an even parity + // Old code used : 'N' (No parity) + // New code will use : 'E' (Even parity) + modbus_t *ctx = modbus_new_rtu(device, 115200, 'E', 8, 1); + if (ctx == nullptr) { + std::cerr << "Unable to create libmodbus context for " << device << "\n"; + return nullptr; + } + + // DEBUGGING + // Use slave_id: 0 instead of 1 (sends commands to ALL connected devices instead of a specific one, think of this as a broadcast address) + // new code: modbus_set_slave(ctx, 0) + if (modbus_set_slave(ctx, slave_id) == -1) { + std::cerr << "Invalid slave ID for " << device << "\n"; + modbus_free(ctx); + return nullptr; + } + if (modbus_connect(ctx) == -1) { + std::cerr << "Connection failed for " << device << ": " << modbus_strerror(errno) << "\n"; + modbus_free(ctx); + return nullptr; + } + std::cout << "Connected to motor on " << device << " (ID: " << slave_id << ")\n"; + return ctx; +} + +// Function to write a Modbus register +void write_register(modbus_t *ctx, uint16_t reg_addr, uint16_t value, const std::string &desc) { + if (modbus_write_register(ctx, reg_addr, value) == -1) { + std::cerr << "Failed to set " << desc << ": " << modbus_strerror(errno) << "\n"; + } else { + std::cout << desc << " set successfully\n"; + } +} + +// motor connection details +struct Motor { + std::string device; + int slave_id; + modbus_t *ctx; + + // Constructor required for emplace_back() + Motor(const std::string& dev, int id) : device(dev), slave_id(id), ctx(nullptr) {} +}; + +int main() { + + // Try 1 usb connection first, then connect multiple motors to pi + + // Serial ports + Slave IDs + std::vector motors; + motors.emplace_back("/dev/ttyUSB0", 1); + + // std::vector motors = { + // {"/dev/ttyUSB0", 1}, + // {"/dev/ttyUSB1", 2} + // }; + + + // Register addresses + const uint16_t REG_ADDR_OP_MODE = 0x6600; + const uint16_t REG_ADDR_MAX_TORQUE = 0x6720; + const uint16_t REG_ADDR_TRQ_SLOPE = 0x6870; + const uint16_t REG_ADDR_TGT_TORQUE = 0x6710; + const uint16_t REG_ADDR_CNTRL_WORD = 0x6400; + + // Initialize Modbus connections for each motor + for (auto &motor : motors) { + motor.ctx = init_modbus(motor.device.c_str(), motor.slave_id); + if (motor.ctx == nullptr) { + std::cerr << "Skipping " << motor.device << " due to connection failure.\n"; + } + } + + // DEBUGGING + // Check if there is a RS-485 connection issue + + uint16_t test_value; + int rc = modbus_read_registers(motors[0].ctx, REG_ADDR_CNTRL_WORD, 1, &test_value); + if (rc == -1) { + std::cerr << "Modbus communication error: " << modbus_strerror(errno) << "\n"; + return -1; + } else { + std::cout << "Current Control Word: " << test_value << "\n"; + } + + // Followed simple example from user manual for torque profile mode + // Run motor in PT torque mode with 10% target torque + for (auto &motor : motors) { + if (motor.ctx) { + write_register(motor.ctx, REG_ADDR_OP_MODE, 0x04, "Profile Torque Mode"); + write_register(motor.ctx, REG_ADDR_MAX_TORQUE, 0x0BB8, "Max Torque (3000‰)"); + + // User manual requires the torque slope to be a uint32_t value. The signature of the libmodbus "write_register" command + // is uint16_t. Temp solution: Use default value of 3000% + //write_register(motor.ctx, REG_ADDR_TRQ_SLOPE, 0x03E8, "Torque Slope (1000‰/s)"); + write_register(motor.ctx, REG_ADDR_TGT_TORQUE, 0xA, "Target Torque (10‰)"); + write_register(motor.ctx, REG_ADDR_CNTRL_WORD, 0x0006, "Motor Shutdown"); + write_register(motor.ctx, REG_ADDR_CNTRL_WORD, 0x000F, "Enable Motor Operation"); + } + } + + // Run motors for 5 seconds + std::this_thread::sleep_for(std::chrono::seconds(5)); + + // Shutdown motors + for (auto &motor : motors) { + if (motor.ctx) { + write_register(motor.ctx, REG_ADDR_CNTRL_WORD, 0x0006, "Motor Shutdown"); + } + } + + // Close all connections + for (auto &motor : motors) { + if (motor.ctx) { + modbus_close(motor.ctx); + modbus_free(motor.ctx); + } + } + + return 0; +} \ No newline at end of file diff --git a/motors/motor_api.h b/motors/motor_api.h deleted file mode 100644 index e69de29..0000000 From 06a4d5f3e6fb9a11f11608264a8f8df984376128 Mon Sep 17 00:00:00 2001 From: Yug-Vashisth Date: Tue, 18 Mar 2025 19:54:47 -0400 Subject: [PATCH 03/23] started making changes... created the function, have to change main next. --- motors/motor_api.cpp | 48 ++++++++++++++++++++++---------------------- 1 file changed, 24 insertions(+), 24 deletions(-) diff --git a/motors/motor_api.cpp b/motors/motor_api.cpp index 57acd78..712eec3 100644 --- a/motors/motor_api.cpp +++ b/motors/motor_api.cpp @@ -14,34 +14,34 @@ #include #include -// Initialize Modbus RTU connection -modbus_t* init_modbus(const char* device, int slave_id) { - // DEBUGGING - // According to the user manual, the motor expects the data format to have an even parity - // Old code used : 'N' (No parity) - // New code will use : 'E' (Even parity) - modbus_t *ctx = modbus_new_rtu(device, 115200, 'E', 8, 1); - if (ctx == nullptr) { - std::cerr << "Unable to create libmodbus context for " << device << "\n"; - return nullptr; - } - // DEBUGGING - // Use slave_id: 0 instead of 1 (sends commands to ALL connected devices instead of a specific one, think of this as a broadcast address) - // new code: modbus_set_slave(ctx, 0) - if (modbus_set_slave(ctx, slave_id) == -1) { - std::cerr << "Invalid slave ID for " << device << "\n"; - modbus_free(ctx); - return nullptr; +//initializeMotor +void initializeMotor(Motor *motor) { + // Initialize Modbus connection + motor->ctx = modbus_new_rtu(motor->device, 115200, 'E', 8, 1); + if (motor->ctx == NULL) { + fprintf(stderr, "Unable to create libmodbus context for %s\n", motor->device); + return; + } + if (modbus_set_slave(motor->ctx, motor->slave_id) == -1) { + fprintf(stderr, "Invalid slave ID for %s\n", motor->device); + modbus_free(motor->ctx); + return; } - if (modbus_connect(ctx) == -1) { - std::cerr << "Connection failed for " << device << ": " << modbus_strerror(errno) << "\n"; - modbus_free(ctx); - return nullptr; + if (modbus_connect(motor->ctx) == -1) { + fprintf(stderr, "Connection failed for %s: %s\n", motor->device, modbus_strerror(errno)); + modbus_free(motor->ctx); + return; } - std::cout << "Connected to motor on " << device << " (ID: " << slave_id << ")\n"; - return ctx; + printf("Connected to motor on %s (ID: %d)\n", motor->device, motor->slave_id); + + // Now write motor control registers + write_register(motor->ctx, 0x6600, 0x04, "Profile Torque Mode"); + write_register(motor->ctx, 0x6720, 0x0BB8, "Max Torque (3000‰)"); // values found from documentation + write_register(motor->ctx, 0x6710, 0x0064 , "Target Torque (100‰)");// set to 100% + write_register(motor->ctx, 0x6400, 0x0006, "Motor Shutdown"); + write_register(motor->ctx, 0x6400, 0x000F, "On/off Operation"); } // Function to write a Modbus register From 06db1f51894991b217eb5c4bfab884a2324c7a65 Mon Sep 17 00:00:00 2001 From: Yug-Vashisth Date: Tue, 18 Mar 2025 19:58:17 -0400 Subject: [PATCH 04/23] made simple change, took out function call to modbus_init, and changed to the function I created (InitializeMotor) --- motors/motor_api.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/motors/motor_api.cpp b/motors/motor_api.cpp index 712eec3..58d496f 100644 --- a/motors/motor_api.cpp +++ b/motors/motor_api.cpp @@ -36,7 +36,7 @@ void initializeMotor(Motor *motor) { } printf("Connected to motor on %s (ID: %d)\n", motor->device, motor->slave_id); - // Now write motor control registers + //write to registers write_register(motor->ctx, 0x6600, 0x04, "Profile Torque Mode"); write_register(motor->ctx, 0x6720, 0x0BB8, "Max Torque (3000‰)"); // values found from documentation write_register(motor->ctx, 0x6710, 0x0064 , "Target Torque (100‰)");// set to 100% @@ -84,9 +84,10 @@ int main() { const uint16_t REG_ADDR_TGT_TORQUE = 0x6710; const uint16_t REG_ADDR_CNTRL_WORD = 0x6400; + // Initialize Modbus connections for each motor for (auto &motor : motors) { - motor.ctx = init_modbus(motor.device.c_str(), motor.slave_id); + initializeMotor(&motor); //new function call (initialzeMotor, not init_modbus) if (motor.ctx == nullptr) { std::cerr << "Skipping " << motor.device << " due to connection failure.\n"; } From 4a393f4d3cfe7caa9bb11ab801e45974de1dfb73 Mon Sep 17 00:00:00 2001 From: Luis Date: Wed, 19 Mar 2025 17:49:57 -0400 Subject: [PATCH 05/23] Add motor class for better encapsulation of motor functions --- motors/motor_api.c | 0 motors/motor_api.cpp | 121 +++++++++++++++++++++++++++++++++++++++++++ motors/motor_api.h | 40 ++++++++++++++ 3 files changed, 161 insertions(+) delete mode 100644 motors/motor_api.c create mode 100644 motors/motor_api.cpp diff --git a/motors/motor_api.c b/motors/motor_api.c deleted file mode 100644 index e69de29..0000000 diff --git a/motors/motor_api.cpp b/motors/motor_api.cpp new file mode 100644 index 0000000..b2b5c01 --- /dev/null +++ b/motors/motor_api.cpp @@ -0,0 +1,121 @@ +/* + * IMPORTANT: libmodbus is a C library, so we have to be careful and use c-style notation while using C++ + * i.e. use C-style string literals instead of std::string + * + * Q: Why use libmodbus over a C++ library? + * A: + * - Most commonly used library for modbus RTU in C/C++. + * - Amazing Reference guide +*/ + +#include "motor_api.h" + + +// Register addresses +const uint16_t REG_OP_MODE = 0x6600; +const uint16_t REG_MAX_TORQUE = 0x6720; +const uint16_t REG_TRQ_SLOPE = 0x6870; +const uint16_t REG_TARGET_TORQUE = 0x6710; +const uint16_t REG_CONTROL_WORD = 0x6400; +const uint16_t REG_TARGET_SPEED = 0x6FF0; + +const uint16_t OPERATION_ENABLE = 0x000F; +const uint16_t OPERATION_DISABLE = 0x0006; + +const int16_t PP_MODE = 1; //PROFILE POSITION MODE +const int16_t PV_MODE = 3; //PROFILE VELOCITY MODE +const int16_t PT_MODE = 4; //PROFILE TORQUE MODE + +Motor::Motor(const std::string& dev, int id) : device(dev), slave_id(id), ctx(nullptr), connected(false) {} + +// Initialize and connect motor +bool Motor::initializeMotor() { + ctx = modbus_new_rtu(device.c_str(), 115200, 'E', 8, 1); + if (!ctx) { + std::cerr << "Failed to create Modbus context for " << device << "\n"; + return false; + } + if (modbus_set_slave(ctx, slave_id) == -1) { + std::cerr << "Invalid slave ID: " << slave_id << "\n"; + modbus_free(ctx); + return false; + } + if (modbus_connect(ctx) == -1) { + std::cerr << "Failed to connect to " << device << ": " << modbus_strerror(errno) << "\n"; + modbus_free(ctx); + return false; + } + connected = true; + std::cout << "Connected to motor on " << device << " (ID: " << slave_id << ")\n"; + + setMaxTorque(3000); + writeRegister(REG_CONTROL_WORD, OPERATION_ENABLE); // Enable motor on startup + + return true; +} + +// Write a register +bool Motor::writeRegister(uint16_t reg, uint16_t value) { + if (!connected) return false; + if (modbus_write_register(ctx, reg, value) == -1) { + std::cerr << "Modbus write error: " << modbus_strerror(errno) << "\n"; + return false; + } + return true; +} + +// Read a register +int Motor::readRegister(uint16_t reg) { + if (!connected) return -1; + uint16_t value; + if (modbus_read_registers(ctx, reg, 1, &value) == -1) { + std::cerr << "Modbus read error: " << modbus_strerror(errno) << "\n"; + return -1; + } + return value; +} + +// Set motor speed +bool Motor::setSpeed(int speed) { + return writeRegister(REG_TARGET_SPEED, static_cast(speed)); +} + +// Set motor torque +bool Motor::setTorque(int torque) { + return writeRegister(REG_TARGET_TORQUE, static_cast(torque)); +} + +// Set max motor torque +bool Motor::setMaxTorque(int max_torque) { + return writeRegister(REG_MAX_TORQUE, static_cast(max_torque)); +} + +// Set motor operation mode +bool Motor::setOperationMode(int16_t mode) { + return writeRegister(REG_OP_MODE, static_cast(mode)); +} + +// Get motor status +int Motor::getStatus() { + return readRegister(REG_CONTROL_WORD); +} + +// Stop motor +bool Motor::stopMotor() { + return writeRegister(REG_CONTROL_WORD, OPERATION_DISABLE); +} + +// Disconnect motor +void Motor::disconnectMotor() { + if (!connected) return; + stopMotor(); + modbus_close(ctx); + modbus_free(ctx); + ctx = nullptr; + connected = false; +} + +// Destructor +Motor::~Motor() { + disconnectMotor(); +} diff --git a/motors/motor_api.h b/motors/motor_api.h index e69de29..4897795 100644 --- a/motors/motor_api.h +++ b/motors/motor_api.h @@ -0,0 +1,40 @@ +#ifndef MOTOR_API_H +#define MOTOR_API_H + +#include +#include +#include + +class Motor { +public: + // Constructor + Motor(const std::string& device, int slave_id); + + // Initialization and connection + bool initializeMotor(); + void disconnectMotor(); + + // Control functions + bool setSpeed(int speed); + bool setTorque(int torque); + bool setMaxTorque(int torque); + bool setOperationMode(int16_t mode); + bool stopMotor(); + + // Error handling + int getStatus(); + + ~Motor(); // Destructor to clean up + +private: + std::string device; + int slave_id; + modbus_t* ctx; + bool connected; + + // Private helper functions + bool writeRegister(uint16_t reg, uint16_t value); + int readRegister(uint16_t reg); +}; + +#endif // MOTOR_API_H From 53b1260b403d4d91c6fcbb43b43e6e967225a5c2 Mon Sep 17 00:00:00 2001 From: Luis Date: Wed, 19 Mar 2025 18:02:21 -0400 Subject: [PATCH 06/23] add gtest, not tested with hardware yet --- .vscode/settings.json | 5 +++ tests/motor_api_test.cpp | 70 ++++++++++++++++++++++++++++++++++++++++ 2 files changed, 75 insertions(+) create mode 100644 .vscode/settings.json create mode 100644 tests/motor_api_test.cpp diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..ed208ba --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,5 @@ +{ + "files.associations": { + "thread": "cpp" + } +} \ No newline at end of file diff --git a/tests/motor_api_test.cpp b/tests/motor_api_test.cpp new file mode 100644 index 0000000..9ca9ab7 --- /dev/null +++ b/tests/motor_api_test.cpp @@ -0,0 +1,70 @@ +#include "motors/motor_api.h" +#include +#include +#include + +#define HARDWARE_AVAILABLE true + +class MotorTest : public ::testing::Test { +protected: + Motor* motor; + + void SetUp() override { + if (HARDWARE_AVAILABLE) { + motor = new Motor("/dev/ttyUSB0", 1); + ASSERT_TRUE(motor->initializeMotor()); // Ensure connection is successful + } else { + motor = nullptr; + GTEST_SKIP() << "Skipping test: Hardware not available."; + } + } + + void TearDown() override { + if (motor) { + std::this_thread::sleep_for(std::chrono::seconds(3)); // Wait only if motor exists + motor->disconnectMotor(); + delete motor; + } + } +}; + +// Test Initialization +TEST_F(MotorTest, Initialization) { + EXPECT_NE(motor, nullptr); // Ensure motor was created +} + +// Test Setting Speed +TEST_F(MotorTest, SetSpeed) { + ASSERT_NE(motor, nullptr); + EXPECT_TRUE(motor->setOperationMode(PV_MODE)); // Set to Profile Velocity Mode + EXPECT_TRUE(motor->setSpeed(1000)); +} + +// Test Setting Torque +TEST_F(MotorTest, SetTorque) { + ASSERT_NE(motor, nullptr); + EXPECT_TRUE(motor->setOperationMode(PT_MODE)); // Set to Profile Torque Mode + EXPECT_TRUE(motor->setTorque(300)); +} + +// Test Stopping Motor +TEST_F(MotorTest, StopMotor) { + ASSERT_NE(motor, nullptr); + EXPECT_TRUE(motor->stopMotor()); +} + +// Test Disconnecting Motor +TEST_F(MotorTest, DisconnectMotor) { + if (motor) { + motor->disconnectMotor(); + EXPECT_FALSE(motor->isConnected()); // Ensure motor is disconnected + } else { + GTEST_SKIP() << "Skipping test: Motor was not initialized."; + } +} + +// Main function for Google Test +int main(int argc, char **argv) { + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} From 1e6e8d27954190ccb5874d62914635f24ba1e439 Mon Sep 17 00:00:00 2001 From: Luis Date: Sat, 29 Mar 2025 22:49:43 -0400 Subject: [PATCH 07/23] Add get actual torque function --- motors/motor_api.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/motors/motor_api.cpp b/motors/motor_api.cpp index 714307a..6fdda23 100644 --- a/motors/motor_api.cpp +++ b/motors/motor_api.cpp @@ -18,6 +18,8 @@ const uint16_t REG_TARGET_TORQUE = 0x6710; const uint16_t REG_CONTROL_WORD = 0x6400; const uint16_t REG_TARGET_SPEED = 0x6FF0; +const uint16_t REG_ACTUAL_TORQUE = 0X6770; + const uint16_t OPERATION_ENABLE = 0x000F; const uint16_t OPERATION_DISABLE = 0x0006; @@ -84,6 +86,11 @@ bool Motor::setTorque(int torque) { return writeRegister(REG_TARGET_TORQUE, static_cast(torque)); } +// Get motor torque +int Motor::getActualTorque() { + return readRegister(REG_ACTUAL_TORQUE); +} + // Set max motor torque bool Motor::setMaxTorque(int max_torque) { return writeRegister(REG_MAX_TORQUE, static_cast(max_torque)); From 57e0d8f2815312705160bf4c8eca3aba1e4e9460 Mon Sep 17 00:00:00 2001 From: Luis Date: Sat, 29 Mar 2025 23:04:28 -0400 Subject: [PATCH 08/23] get actual Speed function added --- motors/motor_api.cpp | 11 +++++++++-- motors/motor_api.h | 2 ++ 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/motors/motor_api.cpp b/motors/motor_api.cpp index 6fdda23..f77a8c3 100644 --- a/motors/motor_api.cpp +++ b/motors/motor_api.cpp @@ -18,7 +18,9 @@ const uint16_t REG_TARGET_TORQUE = 0x6710; const uint16_t REG_CONTROL_WORD = 0x6400; const uint16_t REG_TARGET_SPEED = 0x6FF0; -const uint16_t REG_ACTUAL_TORQUE = 0X6770; +const uint16_t REG_ACTUAL_TORQUE = 0x6770; +const uint16_t REG_ACTUAL_SPEED = 0x66C0; + const uint16_t OPERATION_ENABLE = 0x000F; const uint16_t OPERATION_DISABLE = 0x0006; @@ -81,12 +83,17 @@ bool Motor::setSpeed(int speed) { return writeRegister(REG_TARGET_SPEED, static_cast(speed)); } +// Get actual motor speed +int Motor::getActualSpeed() { + return readRegister(REG_ACTUAL_SPEED); +} + // Set motor torque bool Motor::setTorque(int torque) { return writeRegister(REG_TARGET_TORQUE, static_cast(torque)); } -// Get motor torque +// Get actual motor torque int Motor::getActualTorque() { return readRegister(REG_ACTUAL_TORQUE); } diff --git a/motors/motor_api.h b/motors/motor_api.h index 4897795..f834a2b 100644 --- a/motors/motor_api.h +++ b/motors/motor_api.h @@ -16,7 +16,9 @@ class Motor { // Control functions bool setSpeed(int speed); + int getActualSpeed() bool setTorque(int torque); + int getActualTorque() bool setMaxTorque(int torque); bool setOperationMode(int16_t mode); bool stopMotor(); From ddbea3efe029f5ccd164315176eb01785cb28733 Mon Sep 17 00:00:00 2001 From: Luis Date: Sat, 29 Mar 2025 23:29:45 -0400 Subject: [PATCH 09/23] add position control functions, read write 32int_t functions --- motors/motor_api.cpp | 33 +++++++++++++++++++++++++++++++++ motors/motor_api.h | 7 +++++++ 2 files changed, 40 insertions(+) diff --git a/motors/motor_api.cpp b/motors/motor_api.cpp index f77a8c3..e2d64d2 100644 --- a/motors/motor_api.cpp +++ b/motors/motor_api.cpp @@ -17,9 +17,11 @@ const uint16_t REG_TRQ_SLOPE = 0x6870; const uint16_t REG_TARGET_TORQUE = 0x6710; const uint16_t REG_CONTROL_WORD = 0x6400; const uint16_t REG_TARGET_SPEED = 0x6FF0; +const uint16_t REG_TARGET_POSITION = 0x67A0; const uint16_t REG_ACTUAL_TORQUE = 0x6770; const uint16_t REG_ACTUAL_SPEED = 0x66C0; +const uint16_t REG_ACTUAL_POSITION = 0x67A0; const uint16_t OPERATION_ENABLE = 0x000F; @@ -78,6 +80,37 @@ int Motor::readRegister(uint16_t reg) { return value; } +// Write to a register of data type INT32 +bool Motor::writeRegister32(uint16_t start_addr, int32_t value) { + if (!connected) return -1; + uint16_t regs[2] = { + static_cast(value & 0xFFFF), + static_cast((value >> 16) & 0xFFFF) + }; + return modbus_write_registers(ctx, start_addr, 2, regs) == 2; +} + +// Read a register of data ype INT32 +int32_t Motor::readRegister32(uint16_t start_addr) { + if (!connected) return -1; + uint16_t regs[2]; + if (modbus_read_registers(ctx, start_addr, 2, regs) != 2) { + std::cerr << "Failed to read 32-bit register: " << modbus_strerror(errno) << "\n"; + return -1; + } + return (static_cast(regs[1]) << 16) | regs[0]; +} + +// Set motor position +bool Motor::setPosition(int32_t position) { + return writeRegister32(REG_TARGET_POSITION, position); +} + +// Get actual motor position +int32_t Motor::getActualPosition() { + return readRegister32(REG_ACTUAL_POSITION); +} + // Set motor speed bool Motor::setSpeed(int speed) { return writeRegister(REG_TARGET_SPEED, static_cast(speed)); diff --git a/motors/motor_api.h b/motors/motor_api.h index f834a2b..dff480d 100644 --- a/motors/motor_api.h +++ b/motors/motor_api.h @@ -15,11 +15,16 @@ class Motor { void disconnectMotor(); // Control functions + bool setPosition(int32_t position); + int32_t getActualPosition(); + bool setSpeed(int speed); int getActualSpeed() + bool setTorque(int torque); int getActualTorque() bool setMaxTorque(int torque); + bool setOperationMode(int16_t mode); bool stopMotor(); @@ -36,7 +41,9 @@ class Motor { // Private helper functions bool writeRegister(uint16_t reg, uint16_t value); + bool writeRegister32(uint16_t start_addr, int32_t value); int readRegister(uint16_t reg); + int32_t readRegister32(uint16_t start_addr); }; #endif // MOTOR_API_H From 18c750cf5524282944f59aa09560d26a8510b229 Mon Sep 17 00:00:00 2001 From: Luis Date: Sun, 30 Mar 2025 01:20:37 -0400 Subject: [PATCH 10/23] clean up api and header files --- .vscode/settings.json | 80 ++++++++++++++++++++++++++- motors/motor_api.cpp | 125 ++++++++++++++++++++++++------------------ motors/motor_api.h | 75 +++++++++++++++++-------- 3 files changed, 205 insertions(+), 75 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index ed208ba..539d7e9 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,5 +1,83 @@ { "files.associations": { - "thread": "cpp" + "thread": "cpp", + "xstring": "cpp", + "iostream": "cpp", + "algorithm": "cpp", + "any": "cpp", + "array": "cpp", + "atomic": "cpp", + "bit": "cpp", + "cctype": "cpp", + "charconv": "cpp", + "chrono": "cpp", + "clocale": "cpp", + "cmath": "cpp", + "codecvt": "cpp", + "compare": "cpp", + "complex": "cpp", + "concepts": "cpp", + "csignal": "cpp", + "cstddef": "cpp", + "cstdint": "cpp", + "cstdio": "cpp", + "cstdlib": "cpp", + "cstring": "cpp", + "ctime": "cpp", + "cwchar": "cpp", + "deque": "cpp", + "exception": "cpp", + "filesystem": "cpp", + "format": "cpp", + "forward_list": "cpp", + "fstream": "cpp", + "functional": "cpp", + "initializer_list": "cpp", + "iomanip": "cpp", + "ios": "cpp", + "iosfwd": "cpp", + "istream": "cpp", + "iterator": "cpp", + "limits": "cpp", + "list": "cpp", + "locale": "cpp", + "map": "cpp", + "memory": "cpp", + "new": "cpp", + "numeric": "cpp", + "optional": "cpp", + "ostream": "cpp", + "queue": "cpp", + "ranges": "cpp", + "ratio": "cpp", + "set": "cpp", + "span": "cpp", + "sstream": "cpp", + "stdexcept": "cpp", + "stop_token": "cpp", + "streambuf": "cpp", + "string": "cpp", + "system_error": "cpp", + "tuple": "cpp", + "type_traits": "cpp", + "typeinfo": "cpp", + "unordered_map": "cpp", + "utility": "cpp", + "valarray": "cpp", + "vector": "cpp", + "xfacet": "cpp", + "xhash": "cpp", + "xiosbase": "cpp", + "xlocale": "cpp", + "xlocbuf": "cpp", + "xlocinfo": "cpp", + "xlocmes": "cpp", + "xlocmon": "cpp", + "xlocnum": "cpp", + "xloctime": "cpp", + "xmemory": "cpp", + "xtr1common": "cpp", + "xtree": "cpp", + "xutility": "cpp" } } \ No newline at end of file diff --git a/motors/motor_api.cpp b/motors/motor_api.cpp index e2d64d2..5fe0cba 100644 --- a/motors/motor_api.cpp +++ b/motors/motor_api.cpp @@ -9,28 +9,6 @@ */ #include "motor_api.h" - -// Register addresses -const uint16_t REG_OP_MODE = 0x6600; -const uint16_t REG_MAX_TORQUE = 0x6720; -const uint16_t REG_TRQ_SLOPE = 0x6870; -const uint16_t REG_TARGET_TORQUE = 0x6710; -const uint16_t REG_CONTROL_WORD = 0x6400; -const uint16_t REG_TARGET_SPEED = 0x6FF0; -const uint16_t REG_TARGET_POSITION = 0x67A0; - -const uint16_t REG_ACTUAL_TORQUE = 0x6770; -const uint16_t REG_ACTUAL_SPEED = 0x66C0; -const uint16_t REG_ACTUAL_POSITION = 0x67A0; - - -const uint16_t OPERATION_ENABLE = 0x000F; -const uint16_t OPERATION_DISABLE = 0x0006; - -const int16_t PP_MODE = 1; //PROFILE POSITION MODE -const int16_t PV_MODE = 3; //PROFILE VELOCITY MODE -const int16_t PT_MODE = 4; //PROFILE TORQUE MODE - Motor::Motor(const std::string& dev, int id) : device(dev), slave_id(id), ctx(nullptr), connected(false) {} // Initialize and connect motor @@ -70,35 +48,54 @@ bool Motor::writeRegister(uint16_t reg, uint16_t value) { } // Read a register -int Motor::readRegister(uint16_t reg) { - if (!connected) return -1; - uint16_t value; +bool Motor::readRegister(uint16_t reg, uint16_t &value) { + if (!connected) { + std::cerr << "[readRegister] Not connected to motor.\n"; + return false; + } + if (modbus_read_registers(ctx, reg, 1, &value) == -1) { - std::cerr << "Modbus read error: " << modbus_strerror(errno) << "\n"; - return -1; + std::cerr << "[readRegister] Modbus read error at 0x" + << std::hex << reg << ": " + << modbus_strerror(errno) << "\n"; + return false; } - return value; + + return true; } // Write to a register of data type INT32 bool Motor::writeRegister32(uint16_t start_addr, int32_t value) { - if (!connected) return -1; + if (!connected) return false; uint16_t regs[2] = { static_cast(value & 0xFFFF), static_cast((value >> 16) & 0xFFFF) }; - return modbus_write_registers(ctx, start_addr, 2, regs) == 2; + int rc = modbus_write_registers(ctx, start_addr, 2, regs); + if (rc != 2) { + std::cerr << "Failed to write 32-bit register: " << modbus_strerror(errno) << "\n"; + return false; + } + return true; } -// Read a register of data ype INT32 -int32_t Motor::readRegister32(uint16_t start_addr) { - if (!connected) return -1; +// Read a register of data type INT32 +bool Motor::readRegister32(uint16_t start_addr, int32_t &out) { + if (!connected) { + std::cerr << "[readRegister32] Not connected to motor.\n"; + return false; + } + uint16_t regs[2]; if (modbus_read_registers(ctx, start_addr, 2, regs) != 2) { - std::cerr << "Failed to read 32-bit register: " << modbus_strerror(errno) << "\n"; - return -1; + std::cerr << "[readRegister32] Modbus read error at 0x" + << std::hex << start_addr << ": " + << modbus_strerror(errno) << "\n"; + return false; } - return (static_cast(regs[1]) << 16) | regs[0]; + + out = (static_cast(regs[1]) << 16) | regs[0]; + return true; } // Set motor position @@ -108,32 +105,52 @@ bool Motor::setPosition(int32_t position) { // Get actual motor position int32_t Motor::getActualPosition() { - return readRegister32(REG_ACTUAL_POSITION); + int32_t position; + if (!readRegister32(REG_ACTUAL_POSITION, position)) { + return 0; + } + return position; } -// Set motor speed -bool Motor::setSpeed(int speed) { - return writeRegister(REG_TARGET_SPEED, static_cast(speed)); +// Set motor target velocity +bool Motor::setTargetVelocity(int32_t velocity) { + return writeRegister32(REG_TARGET_VELOCITY, velocity); } -// Get actual motor speed -int Motor::getActualSpeed() { - return readRegister(REG_ACTUAL_SPEED); +// Get actual motor velocity +int32_t Motor::getActualVelocity() { + int32_t velocity; + if (!readRegister32(REG_ACTUAL_VELOCITY, velocity)) { + return 0; + } + return velocity; } -// Set motor torque -bool Motor::setTorque(int torque) { - return writeRegister(REG_TARGET_TORQUE, static_cast(torque)); +// Set motor target torque +bool Motor::setTargetTorque(int16_t torque_permille) { + if (torque_permille < -3000 || torque_permille > 3000) { + std::cerr << "Torque value " << torque_permille << "‰ out of range [-3000, 3000]\n"; + return false; + } + return writeRegister(REG_TARGET_TORQUE, static_cast(torque_permille)); } // Get actual motor torque -int Motor::getActualTorque() { - return readRegister(REG_ACTUAL_TORQUE); +int16_t Motor::getActualTorque() { + uint16_t torque; + if (!readRegister(REG_ACTUAL_TORQUE, torque)) { + return 0; + } + return static_cast(torque); } // Set max motor torque -bool Motor::setMaxTorque(int max_torque) { - return writeRegister(REG_MAX_TORQUE, static_cast(max_torque)); +bool Motor::setMaxTorque(uint16_t max_torque) { + if (max_torque > 3000) { + std::cerr << "Max torque exceeds 3000‰ limit.\n"; + return false; + } + return writeRegister(REG_MAX_TORQUE, max_torque); } // Set motor operation mode @@ -142,8 +159,12 @@ bool Motor::setOperationMode(int16_t mode) { } // Get motor status -int Motor::getStatus() { - return readRegister(REG_CONTROL_WORD); +uint16_t Motor::getStatus() { + uint16_t status; + if (!readRegister(REG_CONTROL_WORD, status)) { + return 0; + } + return status; } // Stop motor diff --git a/motors/motor_api.h b/motors/motor_api.h index dff480d..9ae2a93 100644 --- a/motors/motor_api.h +++ b/motors/motor_api.h @@ -5,33 +5,62 @@ #include #include +// ───────────────────────────────────────────────────────────── +// Control Modes +constexpr int16_t PP_MODE = 1; // Profile Position +constexpr int16_t PV_MODE = 3; // Profile Velocity +constexpr int16_t PT_MODE = 4; // Profile Torque + +// ───────────────────────────────────────────────────────────── +// Control Words +constexpr uint16_t OPERATION_ENABLE = 0x000F; +constexpr uint16_t OPERATION_DISABLE = 0x0006; + +// ───────────────────────────────────────────────────────────── +// Modbus Register Addresses +constexpr uint16_t REG_OP_MODE = 0x6600; +constexpr uint16_t REG_CONTROL_WORD = 0x6400; + +constexpr uint16_t REG_TARGET_TORQUE = 0x6710; +constexpr uint16_t REG_TARGET_VELOCITY = 0x6FF0; +constexpr uint16_t REG_TARGET_POSITION = 0x67A0; + +constexpr uint16_t REG_MAX_TORQUE = 0x6720; +constexpr uint16_t REG_TRQ_SLOPE = 0x6870; + +constexpr uint16_t REG_ACTUAL_TORQUE = 0x6770; +constexpr uint16_t REG_ACTUAL_VELOCITY = 0x66C0; +constexpr uint16_t REG_ACTUAL_POSITION = 0x6640; + +// ───────────────────────────────────────────────────────────── +// Motor Class class Motor { public: - // Constructor + // Constructor / Destructor Motor(const std::string& device, int slave_id); - - // Initialization and connection + ~Motor(); + + // Initialization bool initializeMotor(); void disconnectMotor(); - // Control functions - bool setPosition(int32_t position); - int32_t getActualPosition(); - - bool setSpeed(int speed); - int getActualSpeed() - - bool setTorque(int torque); - int getActualTorque() - bool setMaxTorque(int torque); - + // Motor Control bool setOperationMode(int16_t mode); bool stopMotor(); - - // Error handling - int getStatus(); - ~Motor(); // Destructor to clean up + bool setMaxTorque(int torque); + bool setTargetTorque(int16_t torque_permille); + uint16_t getActualTorque(); + + bool setTargetVelocity(int32_t velocity); + int32_t getActualVelocity(); + + bool setPosition(int32_t position); + int32_t n(); + + // Status + int getStatus(); + bool isConnected() const { return connected; } private: std::string device; @@ -39,11 +68,13 @@ class Motor { modbus_t* ctx; bool connected; - // Private helper functions + // Register Access Helpers bool writeRegister(uint16_t reg, uint16_t value); + bool readRegister(uint16_t reg); + + // For 32-bit register access bool writeRegister32(uint16_t start_addr, int32_t value); - int readRegister(uint16_t reg); - int32_t readRegister32(uint16_t start_addr); + bool readRegister32(uint16_t start_addr); }; -#endif // MOTOR_API_H +#endif // MOTOR_API_H \ No newline at end of file From 5ac7223d7d5d245ef43fa6579aac2ea17ec2ffb4 Mon Sep 17 00:00:00 2001 From: luisss3 <82846784+luisss3@users.noreply.github.com> Date: Sun, 30 Mar 2025 01:44:04 -0400 Subject: [PATCH 11/23] Update README.md --- motors/README.md | 90 ++++++++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 88 insertions(+), 2 deletions(-) diff --git a/motors/README.md b/motors/README.md index 5b004b3..933492a 100644 --- a/motors/README.md +++ b/motors/README.md @@ -1,2 +1,88 @@ -# Motor Control -Submodule of McMaster exoskeleton interfacing and controlling suit motors \ No newline at end of file +# MotorAPI – High-Level Modbus RTU Motor Control + +This C++ library provides a high-level interface to control motors via Modbus RTU using [`libmodbus`](https://libmodbus.org/). It abstracts low-level register operations into simple function calls like `setSpeed()`, `setTorque()`, and `getActualPosition()`. + +## Features + +- Connects to motor over Modbus RTU via serial +- Set motor torque, velocity, and position +- Read actual motor torque, velocity, and position +- Set operation modes (position, velocity, torque) +- Includes safety checks and debug logging +- GTest-compatible for unit testing #TODO + +## Dependencies + +- [libmodbus](https://libmodbus.org/) +- C++17 or later +- GoogleTest (optional for testing) + +## Usage + +### Initialization + +

+Motor motor("/dev/ttyUSB0", 1);
+if (!motor.initializeMotor()) {
+    std::cerr << "Failed to connect to motor.\n";
+}
+
+ +### Set Operation Mode + +

+motor.setOperationMode(PV_MODE);  // PV_MODE, PT_MODE, or PP_MODE
+
+ +### Control Commands + +

+motor.setTargetVelocity(1000);     // in INC/s
+motor.setTorque(500);              // in ‰ (permille)
+motor.setPosition(100000);         // in INC
+
+ +### Read Feedback + +

+int32_t pos = motor.getActualPosition();
+int32_t speed = motor.getActualVelocity();
+int16_t torque = motor.getActualTorque();
+
+ +### Cleanup + +

+motor.stopMotor();
+motor.disconnectMotor();
+
+ +## Running Tests (Optional) + +If hardware is connected and available: + +```bash +mkdir build && cd build +cmake .. +make +./motor_api_test +``` + +## Notes + +- `setTorque()` enforces bounds between -3000‰ and +3000‰. +- `setMaxTorque()` only allows values up to 3000‰. +- All `read*()` functions return zero if a read fails, and error messages are printed to `stderr`. +- The motor must be placed in the correct operation mode (`PP_MODE`, `PV_MODE`, `PT_MODE`) before calling `setPosition()`, `setTargetVelocity()`, or `setTorque()`. +- This API assumes motors follow the Modbus RTU protocol and register map of the EZmotion PRS/SRS R2 series. +- Always verify that your power supply voltage and current limits match the motor specifications. +- Communication defaults: + - Baud rate: `115200` + - Parity: Even (`'E'`) + - Data bits: 8 + - Stop bits: 1 + +## Reference + +This API is designed based on the **PRS SRS R2 Series User Guide** documentation. +Refer to **Section 6: Register Table** in the official User Guide for detailed register definitions and explanations. From a53cc946b1145248ea1bd99f9cc1b5e6e85c1fb2 Mon Sep 17 00:00:00 2001 From: Luis Date: Sun, 30 Mar 2025 01:54:26 -0400 Subject: [PATCH 12/23] update cmakelist --- CMakeLists.txt | 33 ++++++++++++++++++++++----------- 1 file changed, 22 insertions(+), 11 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 6c84a63..6430442 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,21 +1,32 @@ cmake_minimum_required(VERSION 3.14) -project(MyProject) +project(ExoskeletonFirmware) # Set C++ standard set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) -# Add source files -# add_library(MyLibrary src/my_library.cpp) +# Enable testing +enable_testing() -# Include GoogleTest +# Add googletest add_subdirectory(googletest) -# Enable testing -enable_testing() +# Motor API library +add_library(motor_api + motors/motor_api.cpp +) +target_include_directories(motor_api PUBLIC motors) + +# Add test for motor API +add_executable(motor_api_test + tests/motor_api_test.cpp +) +target_link_libraries(motor_api_test + motor_api + gtest + gtest_main +) -# Add unit tests -add_executable(sampleTest tests/sample_test.cpp) -target_link_libraries(sampleTest PRIVATE gtest gtest_main) +add_test(NAME MotorAPITest COMMAND motor_api_test) -# Register the test with CTest -add_test(NAME sampleTest COMMAND sampleTest) +# add more components later (sensors, control, etc.) From 6792348c03e8add42078043974919a65300ddcec Mon Sep 17 00:00:00 2001 From: Luis Date: Fri, 4 Apr 2025 04:31:58 -0400 Subject: [PATCH 13/23] Add actual current read function --- motors/motor_api.cpp | 46 ++++++++++++++++++++++++++++++++++++++++++++ motors/motor_api.h | 13 ++++++++++++- 2 files changed, 58 insertions(+), 1 deletion(-) diff --git a/motors/motor_api.cpp b/motors/motor_api.cpp index 5fe0cba..f251f85 100644 --- a/motors/motor_api.cpp +++ b/motors/motor_api.cpp @@ -98,6 +98,45 @@ bool Motor::readRegister32(uint16_t start_addr, int32_t &out) { return true; } +// // Write rated current in milliamps +// bool Motor::setRatedCurrent(uint32_t current_mA) { +// return writeRegister32(REG_RATED_CURRENT, current_mA); +// } + +// // Read rated current in milliamps (mA) +// uint32_t Motor::getRatedCurrent() { +// uint32_t current; +// if (!readRegister32(REG_RATED_CURRENT, current)) { +// return 0; // or maybe return an error code if you prefer +// } +// return current; +// } + +// Read raw current in ‰ (thousandths of rated torque) +int16_t Motor::getActualCurrent() { + int16_t current; + if (!readRegister(REG_ACTUAL_CURRENT, current)) { + return 0; + } + return current; +} + +// TODO: DOUBLE CHECK BELOW CONSTANTS +// Get actual current in milliamps +double Motor::getActualCurrent_mA() { + int16_t current_per_mille = getActualCurrent_mA(); + + // Select rated torque based on motor model (update accordingly) + const double rated_torque = 0.64; // for 200W motor. in Nm + const double torque_constant = 0.056; // 56 mNm/A from user guide + + // Convert current value from per-mille of rated torque to Nm + double actual_torque = (current_per_mille / 1000.0) * rated_torque; + + double current_mA = actual_torque * 1000.0 / torque_constant; + return current_mA; +} + // Set motor position bool Motor::setPosition(int32_t position) { return writeRegister32(REG_TARGET_POSITION, position); @@ -112,6 +151,13 @@ int32_t Motor::getActualPosition() { return position; } +// Get actual motor position in degrees +double Motor::getDegrees(){ + int32_t actual_position_in_INC = Motor::getActualPosition(); + double degrees = (actual_position_in_INC * 360.0) / 65536.0; + return degrees; +} + // Set motor target velocity bool Motor::setTargetVelocity(int32_t velocity) { return writeRegister32(REG_TARGET_VELOCITY, velocity); diff --git a/motors/motor_api.h b/motors/motor_api.h index 9ae2a93..429e7f3 100644 --- a/motors/motor_api.h +++ b/motors/motor_api.h @@ -31,6 +31,11 @@ constexpr uint16_t REG_TRQ_SLOPE = 0x6870; constexpr uint16_t REG_ACTUAL_TORQUE = 0x6770; constexpr uint16_t REG_ACTUAL_VELOCITY = 0x66C0; constexpr uint16_t REG_ACTUAL_POSITION = 0x6640; +constexpr uint16_t REG_ACTUAL_CURRENT = 0x6780; + +constexpr uint16_t REG_RATED_CURRENT = 0x2017; + + // ───────────────────────────────────────────────────────────── // Motor Class @@ -56,7 +61,13 @@ class Motor { int32_t getActualVelocity(); bool setPosition(int32_t position); - int32_t n(); + int32_t getActualPosition(); + double Motor::getDegrees(); + + bool setRatedCurrent(uint32_t current_mA); + uint32_t getRatedCurrent(); + int16_t getActualCurrent(); + double getActualCurrent_mA(); // Status int getStatus(); From c22365b5047b4e8a60f10f4182d9a2c5ad37de7f Mon Sep 17 00:00:00 2001 From: RitvikDeshpande Date: Sat, 5 Apr 2025 10:29:47 -0400 Subject: [PATCH 14/23] Fixed semantic bugs in motor API - Some of the function signatures in the C++ file didn't match the definition in the header file - Cleaned up a couple of warnings by intializing variables to 0 --- motors/motor_api.cpp | 16 +++++++++------- motors/motor_api.h | 12 ++++++------ 2 files changed, 15 insertions(+), 13 deletions(-) diff --git a/motors/motor_api.cpp b/motors/motor_api.cpp index f251f85..408315c 100644 --- a/motors/motor_api.cpp +++ b/motors/motor_api.cpp @@ -48,7 +48,7 @@ bool Motor::writeRegister(uint16_t reg, uint16_t value) { } // Read a register -bool Motor::readRegister(uint16_t reg, uint16_t &value) { +bool Motor::readRegister(uint16_t reg, uint16_t value) { if (!connected) { std::cerr << "[readRegister] Not connected to motor.\n"; return false; @@ -114,7 +114,7 @@ bool Motor::readRegister32(uint16_t start_addr, int32_t &out) { // Read raw current in ‰ (thousandths of rated torque) int16_t Motor::getActualCurrent() { - int16_t current; + int16_t current = 0; if (!readRegister(REG_ACTUAL_CURRENT, current)) { return 0; } @@ -124,7 +124,9 @@ int16_t Motor::getActualCurrent() { // TODO: DOUBLE CHECK BELOW CONSTANTS // Get actual current in milliamps double Motor::getActualCurrent_mA() { - int16_t current_per_mille = getActualCurrent_mA(); + // Ritvik: Current approach causes infinite reccursion + // I'm assuming this is a typo and getActualCurrent() was meant to be called + int16_t current_per_mille = getActualCurrent(); // Select rated torque based on motor model (update accordingly) const double rated_torque = 0.64; // for 200W motor. in Nm @@ -182,8 +184,8 @@ bool Motor::setTargetTorque(int16_t torque_permille) { } // Get actual motor torque -int16_t Motor::getActualTorque() { - uint16_t torque; +uint16_t Motor::getActualTorque() { + uint16_t torque = 0; if (!readRegister(REG_ACTUAL_TORQUE, torque)) { return 0; } @@ -206,7 +208,7 @@ bool Motor::setOperationMode(int16_t mode) { // Get motor status uint16_t Motor::getStatus() { - uint16_t status; + uint16_t status = 0; if (!readRegister(REG_CONTROL_WORD, status)) { return 0; } @@ -231,4 +233,4 @@ void Motor::disconnectMotor() { // Destructor Motor::~Motor() { disconnectMotor(); -} \ No newline at end of file +} diff --git a/motors/motor_api.h b/motors/motor_api.h index 429e7f3..40934b2 100644 --- a/motors/motor_api.h +++ b/motors/motor_api.h @@ -53,7 +53,7 @@ class Motor { bool setOperationMode(int16_t mode); bool stopMotor(); - bool setMaxTorque(int torque); + bool setMaxTorque(uint16_t torque); bool setTargetTorque(int16_t torque_permille); uint16_t getActualTorque(); @@ -62,7 +62,7 @@ class Motor { bool setPosition(int32_t position); int32_t getActualPosition(); - double Motor::getDegrees(); + double getDegrees(); bool setRatedCurrent(uint32_t current_mA); uint32_t getRatedCurrent(); @@ -70,7 +70,7 @@ class Motor { double getActualCurrent_mA(); // Status - int getStatus(); + uint16_t getStatus(); bool isConnected() const { return connected; } private: @@ -81,11 +81,11 @@ class Motor { // Register Access Helpers bool writeRegister(uint16_t reg, uint16_t value); - bool readRegister(uint16_t reg); + bool readRegister(uint16_t reg, uint16_t value); // For 32-bit register access bool writeRegister32(uint16_t start_addr, int32_t value); - bool readRegister32(uint16_t start_addr); + bool readRegister32(uint16_t start_addr, int32_t &out); }; -#endif // MOTOR_API_H \ No newline at end of file +#endif // MOTOR_API_H From 6f756d15343d31f22217b6410f238bdfd48ae5f5 Mon Sep 17 00:00:00 2001 From: Luis Pinto Date: Sun, 13 Apr 2025 22:01:38 +0100 Subject: [PATCH 15/23] motor api tests torque and reads back actual value --- .vscode/c_cpp_properties.json | 16 + .vscode/settings.json | 14 +- CMakeLists.txt | 3 + build/CMakeCache.txt | 547 +++++++ build/CMakeFiles/3.25.1/CMakeCCompiler.cmake | 72 + .../CMakeFiles/3.25.1/CMakeCXXCompiler.cmake | 83 ++ .../3.25.1/CMakeDetermineCompilerABI_C.bin | Bin 0 -> 70576 bytes .../3.25.1/CMakeDetermineCompilerABI_CXX.bin | Bin 0 -> 70600 bytes build/CMakeFiles/3.25.1/CMakeSystem.cmake | 15 + .../3.25.1/CompilerIdC/CMakeCCompilerId.c | 868 +++++++++++ .../CompilerIdCXX/CMakeCXXCompilerId.cpp | 857 +++++++++++ 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build/googletest/googletest/generated/gtest.pc create mode 100644 build/googletest/googletest/generated/gtest_main.pc create mode 100755 build/motor_api_test diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..0cb6ed4 --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,16 @@ +{ + "configurations": [ + { + "name": "Linux", + "includePath": [ + "${workspaceFolder}/**" + ], + "defines": [], + "compilerPath": "/usr/bin/gcc", + "cStandard": "c17", + "cppStandard": "gnu++17", + "intelliSenseMode": "linux-gcc-arm64" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json index 539d7e9..ed73205 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -78,6 +78,18 @@ "xmemory": "cpp", "xtr1common": "cpp", "xtree": "cpp", - "xutility": "cpp" + "xutility": "cpp", + "*.tcc": "cpp", + "condition_variable": "cpp", + "cstdarg": "cpp", + "cwctype": "cpp", + "unordered_set": "cpp", + "memory_resource": "cpp", + "random": "cpp", + "string_view": "cpp", + "mutex": "cpp", + "numbers": "cpp", + "semaphore": "cpp", + "variant": "cpp" } } \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index 6430442..c6a1ed8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,11 +16,14 @@ add_library(motor_api motors/motor_api.cpp ) target_include_directories(motor_api PUBLIC motors) +target_link_libraries(motor_api PRIVATE modbus) # Add test for motor API add_executable(motor_api_test tests/motor_api_test.cpp ) + +target_include_directories(motor_api_test PRIVATE motors) target_link_libraries(motor_api_test motor_api gtest diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt new file mode 100644 index 0000000..19ccc86 --- /dev/null +++ b/build/CMakeCache.txt @@ -0,0 +1,547 @@ +# This is the CMakeCache file. +# For build in directory: /home/dylan-exo/motor_api/Exoskeleton-Embedded/build +# It was generated by CMake: 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COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__open_xl__) && defined(__clang__) +# define COMPILER_ID "IBMClang" +# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) +# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) +# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TASKING__) +# define COMPILER_ID "Tasking" + # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) + # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) +# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(1) +# if defined(__LCC__) +# define COMPILER_VERSION_MINOR DEC(__LCC__- 100) +# endif +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(_ADI_COMPILER) +# define COMPILER_ID "ADSP" +#if defined(__VERSIONNUM__) + /* __VERSIONNUM__ = 0xVVRRPPTT */ +# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) +# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +# elif defined(_ADI_COMPILER) +# define PLATFORM_ID "ADSP" + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +# elif defined(__ADSPSHARC__) +# define ARCHITECTURE_ID "SHARC" + +# elif defined(__ADSPBLACKFIN__) +# define ARCHITECTURE_ID "Blackfin" + +#elif defined(__TASKING__) + +# if defined(__CTC__) || defined(__CPTC__) +# define ARCHITECTURE_ID "TriCore" + +# elif defined(__CMCS__) +# define ARCHITECTURE_ID "MCS" + +# elif defined(__CARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__CARC__) +# define ARCHITECTURE_ID "ARC" + +# elif defined(__C51__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__CPCP__) +# define ARCHITECTURE_ID "PCP" + +# else +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if !defined(__STDC__) && !defined(__clang__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif __STDC_VERSION__ > 201710L +# define C_VERSION "23" +#elif __STDC_VERSION__ >= 201710L +# define C_VERSION "17" +#elif __STDC_VERSION__ >= 201000L +# define C_VERSION "11" +#elif __STDC_VERSION__ >= 199901L +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/CMakeFiles/3.25.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/3.25.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..c9ba632 --- /dev/null +++ b/build/CMakeFiles/3.25.1/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,857 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +#if !defined(__has_include) +/* If the compiler does not have __has_include, pretend the answer is + always no. */ +# define __has_include(x) 0 +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, + except that a few beta releases use the old format with V=2021. */ +# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) + /* The third version component from --version is an update index, + but no macro is provided for it. */ +# define COMPILER_VERSION_PATCH DEC(0) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__open_xl__) && defined(__clang__) +# define COMPILER_ID "IBMClang" +# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) +# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) +# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TASKING__) +# define COMPILER_ID "Tasking" + # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) + # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) +# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(1) +# if defined(__LCC__) +# define COMPILER_VERSION_MINOR DEC(__LCC__- 100) +# endif +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(_ADI_COMPILER) +# define COMPILER_ID "ADSP" +#if defined(__VERSIONNUM__) + /* __VERSIONNUM__ = 0xVVRRPPTT */ +# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) +# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +# elif defined(_ADI_COMPILER) +# define PLATFORM_ID "ADSP" + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +# elif defined(__ADSPSHARC__) +# define ARCHITECTURE_ID "SHARC" + +# elif defined(__ADSPBLACKFIN__) +# define ARCHITECTURE_ID "Blackfin" + +#elif defined(__TASKING__) + +# if defined(__CTC__) || defined(__CPTC__) +# define ARCHITECTURE_ID "TriCore" + +# elif defined(__CMCS__) +# define ARCHITECTURE_ID "MCS" + +# elif defined(__CARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__CARC__) +# define ARCHITECTURE_ID "ARC" + +# elif defined(__C51__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__CPCP__) +# define ARCHITECTURE_ID "PCP" + +# else +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. 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info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; 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+if(CMAKE_INSTALL_COMPONENT STREQUAL "gtest" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/dylan-exo/motor_api/Exoskeleton-Embedded/build/googletest/googletest/generated/gtest.pc") +endif() + +if(CMAKE_INSTALL_COMPONENT STREQUAL "gtest" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/dylan-exo/motor_api/Exoskeleton-Embedded/build/googletest/googletest/generated/gtest_main.pc") +endif() + diff --git a/build/googletest/googletest/generated/GTestConfig.cmake b/build/googletest/googletest/generated/GTestConfig.cmake new file mode 100644 index 0000000..9ab9a5e --- /dev/null +++ b/build/googletest/googletest/generated/GTestConfig.cmake @@ -0,0 +1,37 @@ + +####### Expanded from @PACKAGE_INIT@ by configure_package_config_file() ####### +####### Any changes to this file will be overwritten by the next CMake run #### +####### The input file was Config.cmake.in ######## + +get_filename_component(PACKAGE_PREFIX_DIR "${CMAKE_CURRENT_LIST_DIR}/../../../" ABSOLUTE) + +macro(set_and_check _var _file) + set(${_var} "${_file}") + if(NOT EXISTS "${_file}") + message(FATAL_ERROR "File or directory ${_file} referenced by variable ${_var} does not exist !") + endif() +endmacro() + +macro(check_required_components _NAME) + foreach(comp ${${_NAME}_FIND_COMPONENTS}) + if(NOT ${_NAME}_${comp}_FOUND) + if(${_NAME}_FIND_REQUIRED_${comp}) + set(${_NAME}_FOUND FALSE) + endif() + endif() + endforeach() +endmacro() + +#################################################################################### +include(CMakeFindDependencyMacro) +if (ON) + set(THREADS_PREFER_PTHREAD_FLAG ) + find_dependency(Threads) +endif() +if (OFF) + find_dependency(absl) + find_dependency(re2) +endif() + +include("${CMAKE_CURRENT_LIST_DIR}/GTestTargets.cmake") +check_required_components("") diff --git a/build/googletest/googletest/generated/GTestConfigVersion.cmake b/build/googletest/googletest/generated/GTestConfigVersion.cmake new file mode 100644 index 0000000..45f50e6 --- /dev/null +++ b/build/googletest/googletest/generated/GTestConfigVersion.cmake @@ -0,0 +1,48 @@ +# This is a basic version file for the Config-mode of find_package(). +# It is used by write_basic_package_version_file() as input file for configure_file() +# to create a version-file which can be installed along a config.cmake file. +# +# The created file sets PACKAGE_VERSION_EXACT if the current version string and +# the requested version string are exactly the same and it sets +# PACKAGE_VERSION_COMPATIBLE if the current version is >= requested version. +# The variable CVF_VERSION must be set before calling configure_file(). + +set(PACKAGE_VERSION "1.15.2") + +if (PACKAGE_FIND_VERSION_RANGE) + # Package version must be in the requested version range + if ((PACKAGE_FIND_VERSION_RANGE_MIN STREQUAL "INCLUDE" AND PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION_MIN) + OR ((PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "INCLUDE" AND PACKAGE_VERSION VERSION_GREATER PACKAGE_FIND_VERSION_MAX) + OR (PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "EXCLUDE" AND PACKAGE_VERSION VERSION_GREATER_EQUAL PACKAGE_FIND_VERSION_MAX))) + set(PACKAGE_VERSION_COMPATIBLE FALSE) + else() + set(PACKAGE_VERSION_COMPATIBLE TRUE) + endif() +else() + if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) + set(PACKAGE_VERSION_COMPATIBLE FALSE) + else() + set(PACKAGE_VERSION_COMPATIBLE TRUE) + if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION) + set(PACKAGE_VERSION_EXACT TRUE) + endif() + endif() +endif() + + +# if the installed project requested no architecture check, don't perform the check +if("FALSE") + return() +endif() + +# if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it: +if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "8" STREQUAL "") + return() +endif() + +# check that the installed version has the same 32/64bit-ness as the one which is currently searching: +if(NOT CMAKE_SIZEOF_VOID_P STREQUAL "8") + math(EXPR installedBits "8 * 8") + set(PACKAGE_VERSION "${PACKAGE_VERSION} (${installedBits}bit)") + set(PACKAGE_VERSION_UNSUITABLE TRUE) +endif() diff --git a/build/googletest/googletest/generated/gmock.pc b/build/googletest/googletest/generated/gmock.pc new file mode 100644 index 0000000..2a94252 --- /dev/null +++ b/build/googletest/googletest/generated/gmock.pc @@ -0,0 +1,10 @@ +libdir=/usr/local/lib +includedir=/usr/local/include + +Name: gmock +Description: GoogleMock (without main() function) +Version: 1.15.2 +URL: https://github.com/google/googletest +Requires: gtest = 1.15.2 +Libs: -L${libdir} -lgmock +Cflags: -I${includedir} -DGTEST_HAS_PTHREAD=1 diff --git a/build/googletest/googletest/generated/gmock_main.pc b/build/googletest/googletest/generated/gmock_main.pc new file mode 100644 index 0000000..6953642 --- /dev/null +++ b/build/googletest/googletest/generated/gmock_main.pc @@ -0,0 +1,10 @@ +libdir=/usr/local/lib +includedir=/usr/local/include + +Name: gmock_main +Description: GoogleMock (with main() function) +Version: 1.15.2 +URL: https://github.com/google/googletest +Requires: gmock = 1.15.2 +Libs: -L${libdir} -lgmock_main +Cflags: -I${includedir} -DGTEST_HAS_PTHREAD=1 diff --git a/build/googletest/googletest/generated/gtest.pc b/build/googletest/googletest/generated/gtest.pc new file mode 100644 index 0000000..7d36793 --- /dev/null +++ b/build/googletest/googletest/generated/gtest.pc @@ -0,0 +1,9 @@ +libdir=/usr/local/lib +includedir=/usr/local/include + +Name: gtest +Description: GoogleTest (without main() function) +Version: 1.15.2 +URL: https://github.com/google/googletest +Libs: -L${libdir} -lgtest +Cflags: -I${includedir} -DGTEST_HAS_PTHREAD=1 diff --git a/build/googletest/googletest/generated/gtest_main.pc b/build/googletest/googletest/generated/gtest_main.pc new file mode 100644 index 0000000..0b35915 --- /dev/null +++ b/build/googletest/googletest/generated/gtest_main.pc @@ -0,0 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b/motors/motor_api.cpp @@ -48,7 +48,7 @@ bool Motor::writeRegister(uint16_t reg, uint16_t value) { } // Read a register -bool Motor::readRegister(uint16_t reg, uint16_t value) { +bool Motor::readRegister(uint16_t reg, uint16_t &value) { if (!connected) { std::cerr << "[readRegister] Not connected to motor.\n"; return false; @@ -184,7 +184,7 @@ bool Motor::setTargetTorque(int16_t torque_permille) { } // Get actual motor torque -uint16_t Motor::getActualTorque() { +int16_t Motor::getActualTorque() { uint16_t torque = 0; if (!readRegister(REG_ACTUAL_TORQUE, torque)) { return 0; diff --git a/motors/motor_api.h b/motors/motor_api.h index dc32da7..ac4031e 100644 --- a/motors/motor_api.h +++ b/motors/motor_api.h @@ -63,7 +63,6 @@ class Motor { bool setPosition(int32_t position); int32_t getActualPosition(); double getDegrees(); - double getDegrees(); bool setRatedCurrent(uint32_t current_mA); uint32_t getRatedCurrent(); @@ -72,7 +71,6 @@ class Motor { // Status uint16_t getStatus(); - uint16_t getStatus(); bool isConnected() const { return connected; } private: @@ -88,7 +86,6 @@ class Motor { // For 32-bit register access bool writeRegister32(uint16_t start_addr, int32_t value); bool readRegister32(uint16_t start_addr, int32_t &out); - bool readRegister32(uint16_t start_addr, int32_t &out); }; #endif // MOTOR_API_H From bb8407241d7dc46453014457d1bd2dfdbe2d341d Mon Sep 17 00:00:00 2001 From: luisss3 <82846784+luisss3@users.noreply.github.com> Date: Mon, 28 Apr 2025 15:46:39 -0400 Subject: [PATCH 17/23] Merge /sensors/ from sensor-feature branch --- sensors/filtered_differences.txt | 0 sensors/imu_filter.cpp | 153 + sensors/imu_filter_lpf.cpp | 147 + sensors/low_pass_filter.h | 35 + sensors/normalize_sensor_data.py | 85 + sensors/normalize_sensor_data_c++.cpp | 154 + sensors/one_d_kalman_filter.cpp | 29 + sensors/one_d_kalman_filter.h | 21 + .../treadmill_imu_data/filtered_imu_data.json | 3069 ++++++++ .../filtered_imu_data_lpf.json | 3069 ++++++++ .../imu_data_treadmill_4min_1.7mph.json | 6980 +++++++++++++++++ .../imu_data_treadmill_4min_1.9mph.json | 2507 ++++++ .../imu_data_treadmill_5min_1.9mph.json | 3069 ++++++++ sensors/vis_all.py | 58 + sensors/visdata.py | 73 + 15 files changed, 19449 insertions(+) create mode 100644 sensors/filtered_differences.txt create mode 100644 sensors/imu_filter.cpp create mode 100644 sensors/imu_filter_lpf.cpp create mode 100644 sensors/low_pass_filter.h create mode 100644 sensors/normalize_sensor_data.py create mode 100644 sensors/normalize_sensor_data_c++.cpp create mode 100644 sensors/one_d_kalman_filter.cpp create mode 100644 sensors/one_d_kalman_filter.h create mode 100644 sensors/treadmill_imu_data/filtered_imu_data.json create mode 100644 sensors/treadmill_imu_data/filtered_imu_data_lpf.json create mode 100644 sensors/treadmill_imu_data/imu_data_treadmill_4min_1.7mph.json create mode 100644 sensors/treadmill_imu_data/imu_data_treadmill_4min_1.9mph.json create mode 100644 sensors/treadmill_imu_data/imu_data_treadmill_5min_1.9mph.json create mode 100644 sensors/vis_all.py create mode 100644 sensors/visdata.py diff --git a/sensors/filtered_differences.txt b/sensors/filtered_differences.txt new file mode 100644 index 0000000..e69de29 diff --git a/sensors/imu_filter.cpp b/sensors/imu_filter.cpp new file mode 100644 index 0000000..c4f7684 --- /dev/null +++ b/sensors/imu_filter.cpp @@ -0,0 +1,153 @@ +#include "one_d_kalman_filter.h" +#include "low_pass_filter.h" +#include +#include +#include +#include +#include +#include +#include + +using json = nlohmann::json; + +// Structure to hold IMU data +struct IMUData { + std::string timestamp; + std::string location; + Eigen::VectorXd measurement; // heading, pitch, roll +}; + +// Read IMU data from JSON file +std::vector read_imu_data(const std::string &filename) { + std::vector imu_data; + std::ifstream file(filename); + std::string line; + + if (!file.is_open()) { + std::cerr << "Failed to open file: " << filename << std::endl; + return imu_data; + } + + while (std::getline(file, line)) { + try { + json entry = json::parse(line); + std::string timestamp = entry["timestamp"]; + + for (const auto &sensor : entry["sensors"]) { + IMUData data; + data.timestamp = timestamp; + data.location = sensor["location"]; + + data.measurement = Eigen::VectorXd(3); + data.measurement << sensor["euler"]["heading"], + sensor["euler"]["pitch"], + sensor["euler"]["roll"]; + + imu_data.push_back(data); + } + } catch (const json::exception &e) { + std::cerr << "JSON parsing error: " << e.what() << std::endl; + continue; + } + } + + return imu_data; +} + +// Apply 1D Kalman filter per Euler component and sensor +void apply_kalman_filter(std::vector &imu_data) { + std::unordered_map> filters; + + std::ofstream diff_file("filtered_differences.txt"); + if (!diff_file.is_open()) { + std::cerr << "Failed to open filtered_differences.txt" << std::endl; + return; + } + + for (auto &data : imu_data) { + auto &filter_array = filters[data.location]; + + // If not initialized yet, construct filters with initial values + if (filter_array[0].update(0) == 0.0 && filter_array[1].update(0) == 0.0 && filter_array[2].update(0) == 0.0) { + filter_array[0] = OneDKalmanFilter(0.01, 1.0, data.measurement(0)); + filter_array[1] = OneDKalmanFilter(0.01, 1.0, data.measurement(1)); + filter_array[2] = OneDKalmanFilter(0.01, 1.0, data.measurement(2)); + } + + Eigen::VectorXd prev = data.measurement; + + data.measurement(0) = filter_array[0].update(data.measurement(0)); + data.measurement(1) = filter_array[1].update(data.measurement(1)); + data.measurement(2) = filter_array[2].update(data.measurement(2)); + + diff_file << "Sensor: " << data.location << "\n"; + diff_file << "Timestamp: " << data.timestamp << "\n"; + diff_file << "Before filtering: H=" << prev(0) + << ", P=" << prev(1) + << ", R=" << prev(2) << "\n"; + diff_file << "After filtering: H=" << data.measurement(0) + << ", P=" << data.measurement(1) + << ", R=" << data.measurement(2) << "\n\n"; + } + + diff_file.close(); + std::cout << "Filtered differences saved to filtered_differences.txt" << std::endl; +} + +// Save filtered IMU data while keeping original format +void save_filtered_data(const std::vector &imu_data, const std::string &filename, const std::string &original_filename) { + std::ofstream file(filename); + if (!file.is_open()) { + std::cerr << "Failed to open file: " << filename << std::endl; + return; + } + + std::ifstream original_file(original_filename); + if (!original_file.is_open()) { + std::cerr << "Failed to open original file: " << original_filename << std::endl; + return; + } + + std::string line; + size_t index = 0; + + while (std::getline(original_file, line)) { + json entry = json::parse(line); + json filtered_entry; + filtered_entry["timestamp"] = entry["timestamp"]; + filtered_entry["sensors"] = json::array(); + + for (size_t i = 0; i < entry["sensors"].size(); ++i) { + json sensor = entry["sensors"][i]; + + if (index < imu_data.size() && imu_data[index].location == sensor["location"]) { + sensor["euler"]["heading"] = imu_data[index].measurement(0); + sensor["euler"]["pitch"] = imu_data[index].measurement(1); + sensor["euler"]["roll"] = imu_data[index].measurement(2); + index++; + } + + filtered_entry["sensors"].push_back(sensor); + } + + file << filtered_entry.dump() << std::endl; + } + + std::cout << "Filtered data saved to " << filename << std::endl; +} + +int main() { + std::string input_file = "C:/Users/Luis/Documents/Exoskeleton/Sensor-logging-branch/Exoskeleton-Embedded/sensors/treadmill_imu_data/imu_data_treadmill_5min_1.9mph.json"; + std::string output_file = "C:/Users/Luis/Documents/Exoskeleton/Sensor-logging-branch/Exoskeleton-Embedded/sensors/treadmill_imu_data/filtered_imu_data.json"; + + std::vector imu_data = read_imu_data(input_file); + if (imu_data.empty()) { + std::cerr << "No IMU data found." << std::endl; + return -1; + } + + apply_kalman_filter(imu_data); + save_filtered_data(imu_data, output_file, input_file); + + return 0; +} diff --git a/sensors/imu_filter_lpf.cpp b/sensors/imu_filter_lpf.cpp new file mode 100644 index 0000000..9b698c8 --- /dev/null +++ b/sensors/imu_filter_lpf.cpp @@ -0,0 +1,147 @@ +#include "low_pass_filter.h" +#include +#include +#include +#include +#include +#include +#include + +using json = nlohmann::json; + +// Structure to hold IMU data +struct IMUData { + std::string timestamp; + std::string location; + Eigen::VectorXd measurement; // heading, pitch, roll +}; + +// Read IMU data from JSON file +std::vector read_imu_data(const std::string &filename) { + std::vector imu_data; + std::ifstream file(filename); + std::string line; + + if (!file.is_open()) { + std::cerr << "Failed to open file: " << filename << std::endl; + return imu_data; + } + + while (std::getline(file, line)) { + try { + json entry = json::parse(line); + std::string timestamp = entry["timestamp"]; + + for (const auto &sensor : entry["sensors"]) { + IMUData data; + data.timestamp = timestamp; + data.location = sensor["location"]; + + data.measurement = Eigen::VectorXd(3); + data.measurement << sensor["euler"]["heading"], + sensor["euler"]["pitch"], + sensor["euler"]["roll"]; + + imu_data.push_back(data); + } + } catch (const json::exception &e) { + std::cerr << "JSON parsing error: " << e.what() << std::endl; + continue; + } + } + + return imu_data; +} + +// Apply low-pass filter per location and Euler component +void apply_low_pass_filter(std::vector &imu_data, double alpha = 0.1) { + std::unordered_map> filters; + + std::ofstream log_file("filtered_differences_lpf.txt"); + if (!log_file.is_open()) { + std::cerr << "Failed to open filtered_differences_lpf.txt" << std::endl; + return; + } + + for (auto &data : imu_data) { + auto &filter_array = filters[data.location]; + + for (int i = 0; i < 3; ++i) { + if (!filter_array[i].is_initialized()) { + filter_array[i] = LowPassFilter(alpha); + filter_array[i].initialize(data.measurement(i)); + } + + double before = data.measurement(i); + double after = filter_array[i].update(data.measurement(i)); + data.measurement(i) = after; + + log_file << "Sensor: " << data.location << ", Timestamp: " << data.timestamp << "\n"; + log_file << "Component " << i << " - Before: " << before << ", After: " << after << "\n"; + } + + log_file << "\n"; + } + + log_file.close(); + std::cout << "LPF differences saved to filtered_differences_lpf.txt\n"; +} + +// Save filtered IMU data while keeping original format +void save_filtered_lpf(const std::vector &imu_data, const std::string &filename, const std::string &original_filename) { + std::ofstream file(filename); + if (!file.is_open()) { + std::cerr << "Failed to open file: " << filename << std::endl; + return; + } + + std::ifstream original_file(original_filename); + if (!original_file.is_open()) { + std::cerr << "Failed to open original file: " << original_filename << std::endl; + return; + } + + std::string line; + size_t index = 0; + + while (std::getline(original_file, line)) { + json entry = json::parse(line); + json filtered_entry; + filtered_entry["timestamp"] = entry["timestamp"]; + filtered_entry["sensors"] = json::array(); + + for (size_t i = 0; i < entry["sensors"].size(); ++i) { + json sensor = entry["sensors"][i]; + + if (index < imu_data.size() && imu_data[index].location == sensor["location"]) { + sensor["euler"]["heading"] = imu_data[index].measurement(0); + sensor["euler"]["pitch"] = imu_data[index].measurement(1); + sensor["euler"]["roll"] = imu_data[index].measurement(2); + index++; + } + + filtered_entry["sensors"].push_back(sensor); + } + + file << filtered_entry.dump() << std::endl; + } + + std::cout << "LPF-filtered data saved to " << filename << std::endl; +} + +// Example usage in main +int main() { + std::string input_file = "sensors/treadmill_imu_data/imu_data_treadmill_5min_1.9mph.json"; + std::string output_file_lpf = "sensors/treadmill_imu_data/filtered_imu_data_lpf.json"; + + std::vector imu_data = read_imu_data(input_file); + if (imu_data.empty()) { + std::cerr << "No IMU data found." << std::endl; + return -1; + } + + apply_low_pass_filter(imu_data, 0.1); // Use smoothing factor alpha = 0.1 + save_filtered_lpf(imu_data, output_file_lpf, input_file); + + return 0; +} diff --git a/sensors/low_pass_filter.h b/sensors/low_pass_filter.h new file mode 100644 index 0000000..3d96a4b --- /dev/null +++ b/sensors/low_pass_filter.h @@ -0,0 +1,35 @@ +#ifndef LOW_PASS_FILTER_H +#define LOW_PASS_FILTER_H + +class LowPassFilter { +public: + // Default constructor required for std::array + LowPassFilter() : alpha(0.5), initialized(false), filtered_value(0.0) {} + + // Constructor with custom alpha + LowPassFilter(double alpha) : alpha(alpha), initialized(false), filtered_value(0.0) {} + + void initialize(double value) { + filtered_value = value; + initialized = true; + } + + double update(double measurement) { + if (!initialized) { + initialize(measurement); + } + filtered_value = alpha * measurement + (1 - alpha) * filtered_value; + return filtered_value; + } + + bool is_initialized() const { + return initialized; + } + +private: + double alpha; + double filtered_value; + bool initialized; +}; + +#endif // LOW_PASS_FILTER_H diff --git a/sensors/normalize_sensor_data.py b/sensors/normalize_sensor_data.py new file mode 100644 index 0000000..ecb21ae --- /dev/null +++ b/sensors/normalize_sensor_data.py @@ -0,0 +1,85 @@ +""" +To get rid of sensor drift that occurs when collecting sensor value. Normalize readings on y axis. +""" + +import sys +import json + +def normalize(data,section_size=100): + if len(data) < section_size: + section_size = len(data) + + total = sum(data[:section_size]) + translation = 0 - total/section_size + new_data = [] + + for i in range(section_size): + new_data.append(data[i] + translation) + + for i in range(section_size, len(data)): + total = total + data[i] - data[i-section_size] + translation = -total/section_size + new_data.append(data[i] + translation) + + return new_data + +def fix_flip(data,diff_max = 200,section_size=100): + new_data = [data[0]] + for i in range(1,len(data)): + diff = data[i]-sum(new_data[-section_size:])/min(section_size,len(new_data)) + if diff > diff_max: + new_data.append(data[i] - 360) + elif diff < -diff_max: + new_data.append(data[i] + 360) + else: + new_data.append(data[i]) + + return new_data + +def strip_data(data): + while data[0] == 0: + data.pop(0) + + while data[-1] == 0: + data.pop() + +def apply_preprocess(sensor_data,f): + sensors = [x["location"] for x in sensor_data[0]["sensors"]] + angle_names = [x for x in sensor_data[0]["sensors"][0]["euler"]] + + for si,sensor in enumerate(sensors): + for angle in angle_names: + data = [x["sensors"][si]["euler"][angle] for x in sensor_data] + data = f(data) + for i in range(len(sensor_data)): + sensor_data[i]["sensors"][si]["euler"][angle] = data[i] + +def process_file(file_path,output_path): + sensor_data = [] + + with open(file_path,"r") as file: + for line in file: + sensor_data.append(json.loads(line)) + + apply_preprocess(sensor_data,fix_flip) + apply_preprocess(sensor_data,normalize) + + print(f"\n\nsensor data: {sensor_data[0]}") + print(f"\n\nsensor data type: {type(sensor_data[0])}\n\n") + + with open(output_path,"w") as file: + for i in range(len(sensor_data)): + file.write(json.dumps(sensor_data[i]) + "\n") + + +def main(): + if len(sys.argv) < 3: + print("Usage: python script.py ",file=sys.stderr) + sys.exit(1) + + file_path = sys.argv[1] + output_path = sys.argv[2] + process_file(file_path,output_path) + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/sensors/normalize_sensor_data_c++.cpp b/sensors/normalize_sensor_data_c++.cpp new file mode 100644 index 0000000..87449fb --- /dev/null +++ b/sensors/normalize_sensor_data_c++.cpp @@ -0,0 +1,154 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "nlohmann/json.hpp" +using json = nlohmann::json; + +std::vector normalize(const std::vector& data, int section_size = 100) { + int n = data.size(); + int sec = section_size; + if (n < sec) { + sec = n; + } + double total = 0.0; + for (int i = 0; i < sec; i++) { + total += data[i]; + } + double translation = -total / sec; + std::vector new_data; + new_data.reserve(n); + + for (int i = 0; i < sec; i++) { + new_data.push_back(data[i] + translation); + } + for (int i = sec; i < n; i++) { + total = total + data[i] - data[i - sec]; + translation = -total / sec; + new_data.push_back(data[i] + translation); + } + return new_data; +} + +std::vector fix_flip(const std::vector& data, double diff_max = 200, int section_size = 100) { + std::vector new_data; + if (data.empty()) { + return new_data; + } + new_data.push_back(data[0]); + for (size_t i = 1; i < data.size(); i++) { + int window_size = std::min(section_size, static_cast(new_data.size())); + double sum_window = 0; + for (int j = new_data.size() - window_size; j < new_data.size(); j++) { + sum_window += new_data[j]; + } + double average = sum_window / window_size; + double diff = data[i] - average; + if (diff > diff_max) { + new_data.push_back(data[i] - 360); + } else if (diff < -diff_max) { + new_data.push_back(data[i] + 360); + } else { + new_data.push_back(data[i]); + } + } + return new_data; +} + +void strip_data(std::vector& data) { + while (!data.empty() && data.front() == 0) { + data.erase(data.begin()); + } + while (!data.empty() && data.back() == 0) { + data.pop_back(); + } +} + +void apply_preprocess(std::vector& sensor_data, + const std::function(const std::vector&)>& f) { + if (sensor_data.empty()) { + return; + } + size_t numSensors = sensor_data[0]["sensors"].size(); + + std::vector angle_names; + for (auto& item : sensor_data[0]["sensors"][0]["euler"].items()) { + angle_names.push_back(item.key()); + } + + // For each sensor and each angle, extract the time-series, process it, then update. + for (size_t si = 0; si < numSensors; si++) { + for (const auto& angle : angle_names) { + std::vector data; + data.reserve(sensor_data.size()); + for (auto& snapshot : sensor_data) { + data.push_back(snapshot["sensors"][si]["euler"][angle].get()); + } + std::vector new_data = f(data); + + for (size_t i = 0; i < sensor_data.size(); i++) { + sensor_data[i]["sensors"][si]["euler"][angle] = new_data[i]; + } + } + } +} + +void process_file(const std::string& file_path, const std::string& output_path) { + std::vector sensor_data; + std::ifstream infile(file_path); + if (!infile) { + std::cerr << "Error opening input file: " << file_path << std::endl; + std::exit(EXIT_FAILURE); + } + + std::string line; + while (std::getline(infile, line)) { + if (!line.empty()) { + try { + sensor_data.push_back(json::parse(line)); + } catch (const std::exception& e) { + std::cerr << "Error parsing JSON: " << e.what() << std::endl; + } + } + } + infile.close(); + + apply_preprocess(sensor_data, [](const std::vector& data) { + return fix_flip(data); + }); + apply_preprocess(sensor_data, [](const std::vector& data) { + return normalize(data); + }); + + + // Write processed sensor data back to the output file (one JSON per line). + std::ofstream outfile(output_path); + if (!outfile) { + std::cerr << "Error opening output file: " << output_path << std::endl; + std::exit(EXIT_FAILURE); + } + for (const auto& snapshot : sensor_data) { + outfile << snapshot.dump() << "\n"; + } + outfile.close(); +} + +int main(int argc, char* argv[]) { + if (argc < 3) { + std::cerr << "Usage: " << argv[0] << " \n"; + return EXIT_FAILURE; + } + + std::string file_path = argv[1]; + std::string output_path = argv[2]; + + process_file(file_path, output_path); + + return EXIT_SUCCESS; +} diff --git a/sensors/one_d_kalman_filter.cpp b/sensors/one_d_kalman_filter.cpp new file mode 100644 index 0000000..69b21b2 --- /dev/null +++ b/sensors/one_d_kalman_filter.cpp @@ -0,0 +1,29 @@ +#include "one_d_kalman_filter.h" + +// Default constructor +OneDKalmanFilter::OneDKalmanFilter() + : x(0.0), p(1.0), q(1e-5), r(1e-2), initialized(false) {} + +// Constructor with parameters +OneDKalmanFilter::OneDKalmanFilter(double process_noise, double measurement_noise, double initial_estimate, double initial_error) + : x(initial_estimate), p(initial_error), q(process_noise), r(measurement_noise), initialized(true) {} + +// Initialize manually (for lazy init in loop) +void OneDKalmanFilter::initialize(double initial_estimate) { + x = initial_estimate; + p = 1.0; + initialized = true; +} + +// Main Kalman update step +double OneDKalmanFilter::update(double measurement) { + // Prediction + p += q; + + // Update + double k = p / (p + r); // Kalman gain + x = x + k * (measurement - x); + p = (1 - k) * p; + + return x; +} diff --git a/sensors/one_d_kalman_filter.h b/sensors/one_d_kalman_filter.h new file mode 100644 index 0000000..22a3925 --- /dev/null +++ b/sensors/one_d_kalman_filter.h @@ -0,0 +1,21 @@ +#ifndef ONE_D_KALMAN_FILTER_H +#define ONE_D_KALMAN_FILTER_H + +class OneDKalmanFilter { +public: + bool initialized; + + OneDKalmanFilter(); + OneDKalmanFilter(double process_noise, double measurement_noise, double initial_estimate = 0.0, double initial_error = 1.0); + + void initialize(double initial_estimate); + double update(double measurement); + +private: + double x; // Estimated state + double p; // Estimated error covariance + double q; // Process noise covariance + double r; // Measurement noise covariance +}; + +#endif // ONE_D_KALMAN_FILTER_H diff --git a/sensors/treadmill_imu_data/filtered_imu_data.json b/sensors/treadmill_imu_data/filtered_imu_data.json new file mode 100644 index 0000000..d79f981 --- /dev/null +++ b/sensors/treadmill_imu_data/filtered_imu_data.json @@ -0,0 +1,3069 @@ +{"sensors":[{"euler":{"heading":367.625,"pitch":128.8125,"roll":35.5},"location":"Left Knee"},{"euler":{"heading":100.5,"pitch":107.6875,"roll":37.0},"location":"Left Ankle"},{"euler":{"heading":53.375,"pitch":-3.6875,"roll":13.0},"location":"Right Ankle"},{"euler":{"heading":103.6875,"pitch":-149.125,"roll":42.6875},"location":"Right Hip"},{"euler":{"heading":165.25,"pitch":-144.4375,"roll":-50.625},"location":"Right Knee"},{"euler":{"heading":49.375,"pitch":-145.6875,"roll":64.375},"location":"Left Hip"}],"timestamp":"2025-03-06 01:19:11.599"} +{"sensors":[{"euler":{"heading":272.8827544730638,"pitch":127.6689233084438,"roll":34.017585770204924},"location":"Left 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Knee"},{"euler":{"heading":0.0,"pitch":0.0,"roll":0.0},"location":"Left Hip"}],"timestamp":"2025-03-06 01:24:38.918"} +{"sensors":[{"euler":{"heading":0.0,"pitch":0.0,"roll":0.0},"location":"Left Knee"},{"euler":{"heading":0.0,"pitch":0.0,"roll":0.0},"location":"Left Ankle"},{"euler":{"heading":0.0,"pitch":0.0,"roll":0.0},"location":"Right Ankle"},{"euler":{"heading":0.0,"pitch":0.0,"roll":0.0},"location":"Right Hip"},{"euler":{"heading":0.0,"pitch":0.0,"roll":0.0},"location":"Right Knee"},{"euler":{"heading":0.0,"pitch":-0.0625,"roll":0.0},"location":"Left Hip"}],"timestamp":"2025-03-06 01:24:39.20"} +{"sensors":[{"euler":{"heading":0.0,"pitch":-0.0625,"roll":0.0},"location":"Left Knee"},{"euler":{"heading":0.0,"pitch":-0.0625,"roll":0.0},"location":"Left Ankle"},{"euler":{"heading":0.0,"pitch":-0.0625,"roll":0.0},"location":"Right Ankle"},{"euler":{"heading":0.0,"pitch":-0.0625,"roll":0.0},"location":"Right Hip"},{"euler":{"heading":0.0,"pitch":-0.0625,"roll":0.0},"location":"Right Knee"},{"euler":{"heading":0.0,"pitch":-0.0625,"roll":0.0},"location":"Left Hip"}],"timestamp":"2025-03-06 01:24:39.121"} diff --git a/sensors/vis_all.py b/sensors/vis_all.py new file mode 100644 index 0000000..25a09d1 --- /dev/null +++ b/sensors/vis_all.py @@ -0,0 +1,58 @@ +import sys +import json +import matplotlib.pyplot as plt +from collections import defaultdict +from datetime import datetime + +def main(): + if len(sys.argv) != 2: + print(f"Usage: python {sys.argv[0]} ") + sys.exit(1) + + file_path = sys.argv[1] + + # Dictionary to store only the roll data (plus timestamps) for each sensor + sensor_data = defaultdict(lambda: {"timestamp": [], "roll": []}) + + with open(file_path, 'r') as file: + for line in file: + line = line.strip() + if not line: + continue + record = json.loads(line) + + timestamp = datetime.strptime(record['timestamp'], "%Y-%m-%d %H:%M:%S.%f") + + for sensor in record['sensors']: + loc = sensor['location'] + sensor_data[loc]['timestamp'].append(timestamp) + sensor_data[loc]['roll'].append(sensor['euler']['roll']) + + # Adjust this order if needed + sensor_order = [ + "Left Knee", "Left Ankle", + "Right Ankle", "Right Hip", + "Right Knee", "Left Hip" + ] + + # Subsampling factor: plot every 10th point, for example + subsample_factor = 10 + + plt.figure(figsize=(20, 6)) + + for loc in sensor_order: + # Take every 10th point + timestamps = sensor_data[loc]['timestamp'][::subsample_factor] + rolls = sensor_data[loc]['roll'][::subsample_factor] + plt.plot(timestamps, rolls, label=loc) + + plt.title("Roll Data Over Time (Subsampled)") + plt.xlabel("Time") + plt.ylabel("Roll (degrees)") + plt.legend() + plt.grid(True) + plt.tight_layout() + plt.show() + +if __name__ == "__main__": + main() diff --git a/sensors/visdata.py b/sensors/visdata.py new file mode 100644 index 0000000..4af2abf --- /dev/null +++ b/sensors/visdata.py @@ -0,0 +1,73 @@ +import sys +import json +import matplotlib.pyplot as plt + +def process_file(file_path): + timestamps = [] + headings = [] + pitches = [] + rolls = [] + + sensor_locs = [] + joint_name = "" + + with open(file_path,"r") as file: + data = json.loads(file.readline()) + for sensor in data["sensors"]: + sensor_locs.append(sensor["location"]) + + for i,loc in enumerate(sensor_locs): + print(f"({i+1}) {loc}") + + inp = input("which sensor would you like to plot: ").strip() + try: + joint_name = sensor_locs[int(inp)-1] + except Exception as e: + print(f"Error processing input: {e}") + sys.exit(1) + + + with open(file_path,"r") as file: + for line in file: + data = json.loads(line) + timestamps.append(data["timestamp"]) + + for sensor in data["sensors"]: + if sensor["location"] == joint_name: + headings.append(sensor["euler"]["heading"]) + pitches.append(sensor["euler"]["pitch"]) + rolls.append(sensor["euler"]["roll"]) + break + + # Convert timestamps to indices for better readability on the plot + time_indices = range(len(timestamps)) + + # Plot data + plt.figure(figsize=(10, 5)) + plt.plot(time_indices, headings, label="Heading", color="blue") + plt.plot(time_indices, pitches, label="Pitch", color="red") + plt.plot(time_indices, rolls, label="Roll", color="green") + + # Labels and title + plt.xlabel("Time (Index)") + plt.ylabel("Euler Angles (Degrees)") + plt.title(f"IMU Data for {joint_name}") + plt.legend() + plt.grid() + + # Show plot + plt.show() + + + + +def main(): + if len(sys.argv) < 2: + print("Usage: python script.py ",file=sys.stderr) + sys.exit(1) + + file_path = sys.argv[1] + process_file(file_path) + +if __name__ == "__main__": + main() \ No newline at end of file From f4c1c7ffc3ea4b8880d1e6544d21b139ec3565c8 Mon Sep 17 00:00:00 2001 From: luisss3 <82846784+luisss3@users.noreply.github.com> Date: Tue, 29 Apr 2025 14:17:49 -0400 Subject: [PATCH 18/23] multiple motors at the same time can be run Updated slave ID address --- motors/motor_api.cpp | 85 +++++++++++++++++++++++++++++++++++++++----- motors/motor_api.h | 27 +++++++++++--- 2 files changed, 100 insertions(+), 12 deletions(-) diff --git a/motors/motor_api.cpp b/motors/motor_api.cpp index 445f99e..b8ca9d3 100644 --- a/motors/motor_api.cpp +++ b/motors/motor_api.cpp @@ -64,6 +64,30 @@ bool Motor::readRegister(uint16_t reg, uint16_t &value) { return true; } +void Motor::logErrorStatus() { + uint16_t error_status = 0; + if (!readRegister(REG_ERROR_STATUS, error_status)) { + std::cerr << "Failed to read Error Status register.\n"; + return; + } + + std::cout << "=== Motor Error Status (0x20BA) ===\n"; + if (error_status == 0) { + std::cout << "No errors detected.\n"; + return; + } + + if (error_status & (1 << 0)) std::cout << "OCP: Over-current protection triggered.\n"; + if (error_status & (1 << 1)) std::cout << "UVLO: Under-voltage lockout triggered.\n"; + if (error_status & (1 << 2)) std::cout << "LOCK: Rotor lock detected.\n"; + if (error_status & (1 << 3)) std::cout << "VIN_LIMIT: DC link voltage protection active.\n"; + if (error_status & (1 << 4)) std::cout << "OVERLOAD: Overload protection triggered.\n"; + if (error_status & (1 << 5)) std::cout << "POS_LIMIT: Position limit exceeded.\n"; + if (error_status & (1 << 6)) std::cout << "SENSOR_ERR: Position sensor error.\n"; + std::cout << "====================================\n"; +} + + // Write to a register of data type INT32 bool Motor::writeRegister32(uint16_t start_addr, int32_t value) { if (!connected) return false; @@ -112,6 +136,45 @@ bool Motor::readRegister32(uint16_t start_addr, int32_t &out) { // return current; // } + +bool Motor::setMotorAdrress(uint16_t adr){ + return writeRegister(REG_MODBUS_ADDRESS, adr); +} + +bool Motor::getMotorAddress(uint16_t &adr){ + uint16_t address = 0; + if (!readRegister(REG_MODBUS_ADDRESS, address)) { + return false; // or maybe return an error code if you prefer + } + adr = address; + return true; +} + +bool Motor::storeParameters(){ + return writeRegister32(REG_RELATED_REGISTERS, STORE_PARAMETERS); +} + +bool Motor::updateControlParameters(){ + return writeRegister32(REG_RELATED_REGISTERS, UPDATE_CONTROL_PARAMETERS); +} + +bool Motor::restoreDefaultParameters(){ + return writeRegister32(REG_RELATED_REGISTERS, RESTORE_DEFAULT_PARAMETERS); +} + +bool Motor::systemReset(){ + return writeRegister32(REG_RELATED_REGISTERS, SYSTEM_RESET); +} + +void Motor::printMotorAddress() { + uint16_t address = 0; + if (getMotorAddress(address)) { + std::cout << "Motor on " << device << " has address: " << address << std::endl; + } else { + std::cerr << "Failed to retrieve motor address for " << device << std::endl; + } +} + // Read raw current in ‰ (thousandths of rated torque) int16_t Motor::getActualCurrent() { uint16_t raw_current; @@ -215,22 +278,28 @@ uint16_t Motor::getStatus() { return status; } + + // Stop motor bool Motor::stopMotor() { return writeRegister(REG_CONTROL_WORD, OPERATION_DISABLE); } // Disconnect motor -void Motor::disconnectMotor() { - if (!connected) return; - stopMotor(); - modbus_close(ctx); - modbus_free(ctx); - ctx = nullptr; - connected = false; +bool Motor::disconnectMotor() { + std::cout << "Disconnecting motor on " << device << " (ID: " << slave_id << ")\n"; + if (connected) { + stopMotor(); + modbus_close(ctx); + modbus_free(ctx); + ctx = nullptr; + connected = false; + return true; + } + return false; } // Destructor Motor::~Motor() { disconnectMotor(); -} +} \ No newline at end of file diff --git a/motors/motor_api.h b/motors/motor_api.h index ac4031e..ff24914 100644 --- a/motors/motor_api.h +++ b/motors/motor_api.h @@ -34,7 +34,16 @@ constexpr uint16_t REG_ACTUAL_POSITION = 0x6640; constexpr uint16_t REG_ACTUAL_CURRENT = 0x6780; constexpr uint16_t REG_RATED_CURRENT = 0x2017; +constexpr uint16_t REG_MODBUS_ADDRESS = 0x3050; +constexpr uint32_t STORE_PARAMETERS = 0x65766173; +constexpr uint32_t UPDATE_CONTROL_PARAMETERS = 0xAA5555AA; +constexpr uint32_t SYSTEM_RESET = 0x626F6F74; +constexpr uint32_t RESTORE_DEFAULT_PARAMETERS = 0x626F6F74; + +constexpr uint16_t REG_RELATED_REGISTERS= 0x20D0; + +constexpr uint16_t REG_ERROR_STATUS= 0x20BA; // ───────────────────────────────────────────────────────────── @@ -47,7 +56,7 @@ class Motor { // Initialization bool initializeMotor(); - void disconnectMotor(); + bool disconnectMotor(); // Motor Control bool setOperationMode(int16_t mode); @@ -64,13 +73,23 @@ class Motor { int32_t getActualPosition(); double getDegrees(); - bool setRatedCurrent(uint32_t current_mA); - uint32_t getRatedCurrent(); + // bool setRatedCurrent(uint32_t current_mA); + // uint32_t getRatedCurrent(); int16_t getActualCurrent(); double getActualCurrent_mA(); + bool setMotorAdrress(uint16_t adr); + bool getMotorAddress(uint16_t &adr); + void printMotorAddress(); + + bool storeParameters(); + bool updateControlParameters(); + bool restoreDefaultParameters(); + bool systemReset(); + // Status uint16_t getStatus(); + void logErrorStatus(); bool isConnected() const { return connected; } private: @@ -88,4 +107,4 @@ class Motor { bool readRegister32(uint16_t start_addr, int32_t &out); }; -#endif // MOTOR_API_H +#endif // MOTOR_API_H \ No newline at end of file From 7541169a759e0a8c57d839e808f05a43172a4178 Mon Sep 17 00:00:00 2001 From: luisss3 <82846784+luisss3@users.noreply.github.com> Date: Tue, 13 May 2025 21:22:40 -0400 Subject: [PATCH 19/23] Add temperature reading and error clearing functionality --- motors/motor_api.cpp | 60 ++++++++++++++++++++++++++++++++------------ motors/motor_api.h | 13 +++++++++- 2 files changed, 56 insertions(+), 17 deletions(-) diff --git a/motors/motor_api.cpp b/motors/motor_api.cpp index b8ca9d3..be749fb 100644 --- a/motors/motor_api.cpp +++ b/motors/motor_api.cpp @@ -8,6 +8,7 @@ * - Amazing Reference guide */ #include "motor_api.h" +#include Motor::Motor(const std::string& dev, int id) : device(dev), slave_id(id), ctx(nullptr), connected(false) {} @@ -30,9 +31,11 @@ bool Motor::initializeMotor() { } connected = true; std::cout << "Connected to motor on " << device << " (ID: " << slave_id << ")\n"; - + clearError(); + writeRegister(REG_CONTROL_WORD, OPERATION_ENABLE); + setOperationMode(PT_MODE); setMaxTorque(3000); - writeRegister(REG_CONTROL_WORD, OPERATION_ENABLE); // Enable motor on startup + // Enable motor on startup return true; } @@ -102,6 +105,20 @@ bool Motor::writeRegister32(uint16_t start_addr, int32_t value) { } return true; } +bool Motor::clearError() { + // Step 1: Make sure bit 7 has a falling edge first + if (!writeRegister(REG_CONTROL_WORD, 0x0000)) return false; + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + + // Step 2: Write 0x0080 to trigger fault reset + if (!writeRegister(REG_CONTROL_WORD, 0x0080)) return false; + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + + // Step 3: Shutdown command (get to "Ready to switch on") + if (!writeRegister(REG_CONTROL_WORD, 0x0006)) return false; + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + return true; +} // Read a register of data type INT32 bool Motor::readRegister32(uint16_t start_addr, int32_t &out) { @@ -122,19 +139,11 @@ bool Motor::readRegister32(uint16_t start_addr, int32_t &out) { return true; } -// // Write rated current in milliamps -// bool Motor::setRatedCurrent(uint32_t current_mA) { -// return writeRegister32(REG_RATED_CURRENT, current_mA); -// } -// // Read rated current in milliamps (mA) -// uint32_t Motor::getRatedCurrent() { -// uint32_t current; -// if (!readRegister32(REG_RATED_CURRENT, current)) { -// return 0; // or maybe return an error code if you prefer -// } -// return current; -// } +bool Motor::setOTPThreshold(int16_t temperature_C){ + return writeRegister(REG_OTP_THRESHOLD, temperature_C); +} + bool Motor::setMotorAdrress(uint16_t adr){ @@ -144,12 +153,21 @@ bool Motor::setMotorAdrress(uint16_t adr){ bool Motor::getMotorAddress(uint16_t &adr){ uint16_t address = 0; if (!readRegister(REG_MODBUS_ADDRESS, address)) { - return false; // or maybe return an error code if you prefer + return false; } adr = address; return true; } +bool Motor::getMotorTemperature(int16_t &temperature_C){ + int16_t temp = 0; + if (!readRegister(REG_TEMPERATURE, temp)) { + return false; + } + temperature_C = temp; + return true; +} + bool Motor::storeParameters(){ return writeRegister32(REG_RELATED_REGISTERS, STORE_PARAMETERS); } @@ -175,6 +193,15 @@ void Motor::printMotorAddress() { } } +void Motor::printMotorTemperature() { + int16_t temperature = 0; + if (getMotorTemperature(temperature)) { + std::cout << "Motor on " << device << " has temperature: " << temperature << "°C" << std::endl; + } else { + std::cerr << "Failed to retrieve motor temperature for " << device << std::endl; + } +} + // Read raw current in ‰ (thousandths of rated torque) int16_t Motor::getActualCurrent() { uint16_t raw_current; @@ -243,7 +270,8 @@ bool Motor::setTargetTorque(int16_t torque_permille) { std::cerr << "Torque value " << torque_permille << "‰ out of range [-3000, 3000]\n"; return false; } - return writeRegister(REG_TARGET_TORQUE, static_cast(torque_permille)); + uint16_t raw = static_cast(*reinterpret_cast(&torque_permille)); + return writeRegister(REG_TARGET_TORQUE, raw); } // Get actual motor torque diff --git a/motors/motor_api.h b/motors/motor_api.h index ff24914..66c47a8 100644 --- a/motors/motor_api.h +++ b/motors/motor_api.h @@ -45,6 +45,9 @@ constexpr uint16_t REG_RELATED_REGISTERS= 0x20D0; constexpr uint16_t REG_ERROR_STATUS= 0x20BA; +constexpr uint16_t REG_TEMPERATURE= 0x2400; //Indicates the PCB’s temperature +constexpr uint16_t REG_OTP_THRESHOLD= 0x2410; //Sets the over-temperature protection (OTP) threshold + // ───────────────────────────────────────────────────────────── // Motor Class @@ -74,7 +77,7 @@ class Motor { double getDegrees(); // bool setRatedCurrent(uint32_t current_mA); - // uint32_t getRatedCurrent(); + uint32_t getRatedCurrent(); int16_t getActualCurrent(); double getActualCurrent_mA(); @@ -82,6 +85,11 @@ class Motor { bool getMotorAddress(uint16_t &adr); void printMotorAddress(); + bool getMotorTemperature(int16_t &temperature_C); + void printMotorTemperature(); + bool setOTPThreshold(int16_t temperature_C); + + bool storeParameters(); bool updateControlParameters(); bool restoreDefaultParameters(); @@ -91,6 +99,9 @@ class Motor { uint16_t getStatus(); void logErrorStatus(); bool isConnected() const { return connected; } + bool clearError(); + + bool set_OTP_Threshold(int16_t temperature_C); private: std::string device; From 5cf9ff37ed9ef7ee13f3076597c911fbd84ea46b Mon Sep 17 00:00:00 2001 From: luisss3 <82846784+luisss3@users.noreply.github.com> Date: Tue, 13 May 2025 21:44:25 -0400 Subject: [PATCH 20/23] remove duplicate definition --- motors/motor_api.h | 1 - 1 file changed, 1 deletion(-) diff --git a/motors/motor_api.h b/motors/motor_api.h index 66c47a8..ffedbb6 100644 --- a/motors/motor_api.h +++ b/motors/motor_api.h @@ -101,7 +101,6 @@ class Motor { bool isConnected() const { return connected; } bool clearError(); - bool set_OTP_Threshold(int16_t temperature_C); private: std::string device; From 29299b89fbb3c5b79698c35e7e262ed6cf31f0b9 Mon Sep 17 00:00:00 2001 From: luisss3 <82846784+luisss3@users.noreply.github.com> Date: Tue, 13 May 2025 22:09:59 -0400 Subject: [PATCH 21/23] Update gitignore --- .gitignore | 72 ++++++++++++++++++++++++++++++++++++++---------------- 1 file changed, 51 insertions(+), 21 deletions(-) diff --git a/.gitignore b/.gitignore index 259148f..0e3f7f3 100644 --- a/.gitignore +++ b/.gitignore @@ -1,32 +1,62 @@ -# Prerequisites -*.d +# ------------------------------------------------------------------------------ +# Build artifacts +# ------------------------------------------------------------------------------ -# Compiled Object files -*.slo -*.lo +# CMake build directory +build/ +CMakeFiles/ +CMakeCache.txt +cmake_install.cmake +Makefile + +# Object and output files *.o *.obj +*.so +*.a +*.dll +*.dylib +*.lib +*.out +*.exe +*.app +*.slo +*.lo +*.lai +*.la -# Precompiled Headers +# Precompiled headers *.gch *.pch -# Compiled Dynamic libraries -*.so -*.dylib -*.dll - -# Fortran module files +# Fortran modules *.mod *.smod -# Compiled Static libraries -*.lai -*.la -*.a -*.lib +# Dependency files +*.d -# Executables -*.exe -*.out -*.app +# ------------------------------------------------------------------------------ +# IDE and Editor files +# ------------------------------------------------------------------------------ + +# VSCode +.vscode/ +*.code-workspace + +# JetBrains IDEs (CLion, etc.) +.idea/ + +# Vim +*.swp +*.swo + +# Emacs +*~ + +# ------------------------------------------------------------------------------ +# System files +# ------------------------------------------------------------------------------ + +.DS_Store +Thumbs.db From 59608409c4c6ab7e664edd98cbe081b074fc201e Mon Sep 17 00:00:00 2001 From: luisss3 <82846784+luisss3@users.noreply.github.com> Date: Tue, 13 May 2025 22:15:19 -0400 Subject: [PATCH 22/23] remove untracked files --- 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- -/* Construct a string literal encoding the version number components. */ -#elif defined(COMPILER_VERSION_MAJOR) -char const info_version[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', - COMPILER_VERSION_MAJOR, -# ifdef COMPILER_VERSION_MINOR - '.', COMPILER_VERSION_MINOR, -# ifdef COMPILER_VERSION_PATCH - '.', COMPILER_VERSION_PATCH, -# ifdef COMPILER_VERSION_TWEAK - '.', COMPILER_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct a string literal encoding the internal version number. */ -#ifdef COMPILER_VERSION_INTERNAL -char const info_version_internal[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', - 'i','n','t','e','r','n','a','l','[', - COMPILER_VERSION_INTERNAL,']','\0'}; -#elif defined(COMPILER_VERSION_INTERNAL_STR) -char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; -#endif - -/* Construct a string literal encoding the version number components. */ -#ifdef SIMULATE_VERSION_MAJOR -char const info_simulate_version[] = { - 'I', 'N', 'F', 'O', ':', - 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', - SIMULATE_VERSION_MAJOR, -# ifdef SIMULATE_VERSION_MINOR - '.', SIMULATE_VERSION_MINOR, -# ifdef SIMULATE_VERSION_PATCH - '.', SIMULATE_VERSION_PATCH, -# ifdef SIMULATE_VERSION_TWEAK - '.', SIMULATE_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct the string literal in pieces to prevent the source from - getting matched. Store it in a pointer rather than an array - because some compilers will just produce instructions to fill the - array rather than assigning a pointer to a static array. */ -char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; -char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; - - - -#if !defined(__STDC__) && !defined(__clang__) -# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) -# define C_VERSION "90" -# else -# define C_VERSION -# endif -#elif __STDC_VERSION__ > 201710L -# define C_VERSION "23" -#elif __STDC_VERSION__ >= 201710L -# define C_VERSION "17" -#elif __STDC_VERSION__ >= 201000L -# define C_VERSION "11" -#elif __STDC_VERSION__ >= 199901L -# define C_VERSION "99" -#else -# define C_VERSION "90" -#endif -const char* info_language_standard_default = - "INFO" ":" "standard_default[" C_VERSION "]"; - -const char* info_language_extensions_default = "INFO" ":" "extensions_default[" -#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ - defined(__TI_COMPILER_VERSION__)) && \ - !defined(__STRICT_ANSI__) - "ON" -#else - "OFF" -#endif -"]"; - -/*--------------------------------------------------------------------------*/ - -#ifdef ID_VOID_MAIN -void main() {} -#else -# if defined(__CLASSIC_C__) -int main(argc, argv) int argc; char *argv[]; -# else -int main(int argc, char* argv[]) -# endif -{ - int require = 0; - require += info_compiler[argc]; - require += info_platform[argc]; - require += info_arch[argc]; -#ifdef COMPILER_VERSION_MAJOR - require += info_version[argc]; -#endif -#ifdef COMPILER_VERSION_INTERNAL - require += info_version_internal[argc]; -#endif -#ifdef SIMULATE_ID - require += info_simulate[argc]; -#endif -#ifdef SIMULATE_VERSION_MAJOR - require += info_simulate_version[argc]; -#endif -#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) - require += info_cray[argc]; -#endif - require += info_language_standard_default[argc]; - require += info_language_extensions_default[argc]; - (void)argv; - return require; -} -#endif diff --git a/build/CMakeFiles/3.25.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/3.25.1/CompilerIdCXX/CMakeCXXCompilerId.cpp deleted file mode 100644 index c9ba632..0000000 --- a/build/CMakeFiles/3.25.1/CompilerIdCXX/CMakeCXXCompilerId.cpp +++ /dev/null @@ -1,857 +0,0 @@ -/* This source file must have a .cpp extension so that all C++ compilers - recognize the extension without flags. 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(((__VER__) / 100)*100)) -# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) -# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) -# endif - - -/* These compilers are either not known or too old to define an - identification macro. 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This is because - the compilers do not have flags that can change the architecture, - but rather depend on which compiler is being used -*/ -#if defined(_WIN32) && defined(_MSC_VER) -# if defined(_M_IA64) -# define ARCHITECTURE_ID "IA64" - -# elif defined(_M_ARM64EC) -# define ARCHITECTURE_ID "ARM64EC" - -# elif defined(_M_X64) || defined(_M_AMD64) -# define ARCHITECTURE_ID "x64" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# elif defined(_M_ARM64) -# define ARCHITECTURE_ID "ARM64" - -# elif defined(_M_ARM) -# if _M_ARM == 4 -# define ARCHITECTURE_ID "ARMV4I" -# elif _M_ARM == 5 -# define ARCHITECTURE_ID "ARMV5I" -# else -# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) -# endif - -# elif defined(_M_MIPS) -# define ARCHITECTURE_ID "MIPS" - -# elif defined(_M_SH) -# define ARCHITECTURE_ID "SHx" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__WATCOMC__) -# if defined(_M_I86) -# define ARCHITECTURE_ID "I86" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) -# if defined(__ICCARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__ICCRX__) -# define ARCHITECTURE_ID "RX" - -# elif defined(__ICCRH850__) -# define ARCHITECTURE_ID "RH850" - -# elif defined(__ICCRL78__) -# define ARCHITECTURE_ID "RL78" - -# elif defined(__ICCRISCV__) -# define ARCHITECTURE_ID "RISCV" - -# elif defined(__ICCAVR__) -# define ARCHITECTURE_ID "AVR" - -# elif defined(__ICC430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__ICCV850__) -# define ARCHITECTURE_ID "V850" - -# elif defined(__ICC8051__) -# define ARCHITECTURE_ID "8051" - -# elif defined(__ICCSTM8__) -# define ARCHITECTURE_ID "STM8" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__ghs__) -# if defined(__PPC64__) -# define ARCHITECTURE_ID "PPC64" - -# elif defined(__ppc__) -# define ARCHITECTURE_ID "PPC" - -# elif defined(__ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__x86_64__) -# define ARCHITECTURE_ID "x64" - -# elif defined(__i386__) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__TI_COMPILER_VERSION__) -# if defined(__TI_ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__MSP430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__TMS320C28XX__) -# define ARCHITECTURE_ID "TMS320C28x" - -# elif defined(__TMS320C6X__) || defined(_TMS320C6X) -# define ARCHITECTURE_ID "TMS320C6x" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -# elif defined(__ADSPSHARC__) -# define ARCHITECTURE_ID "SHARC" - -# elif defined(__ADSPBLACKFIN__) -# define ARCHITECTURE_ID "Blackfin" - -#elif defined(__TASKING__) - -# if defined(__CTC__) || defined(__CPTC__) -# define ARCHITECTURE_ID "TriCore" - -# elif defined(__CMCS__) -# define ARCHITECTURE_ID "MCS" - -# elif defined(__CARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__CARC__) -# define ARCHITECTURE_ID "ARC" - -# elif defined(__C51__) -# define ARCHITECTURE_ID "8051" - -# elif defined(__CPCP__) -# define ARCHITECTURE_ID "PCP" - -# else -# define ARCHITECTURE_ID "" -# endif - -#else -# define ARCHITECTURE_ID -#endif - -/* Convert integer to decimal digit literals. */ -#define DEC(n) \ - ('0' + (((n) / 10000000)%10)), \ - ('0' + (((n) / 1000000)%10)), \ - ('0' + (((n) / 100000)%10)), \ - ('0' + (((n) / 10000)%10)), \ - ('0' + (((n) / 1000)%10)), \ - ('0' + (((n) / 100)%10)), \ - ('0' + (((n) / 10)%10)), \ - ('0' + ((n) % 10)) - -/* Convert integer to hex digit literals. */ -#define HEX(n) \ - ('0' + ((n)>>28 & 0xF)), \ - ('0' + ((n)>>24 & 0xF)), \ - ('0' + ((n)>>20 & 0xF)), \ - ('0' + ((n)>>16 & 0xF)), \ - ('0' + ((n)>>12 & 0xF)), \ - ('0' + ((n)>>8 & 0xF)), \ - ('0' + ((n)>>4 & 0xF)), \ - ('0' + ((n) & 0xF)) - -/* Construct a string literal encoding the version number. */ -#ifdef COMPILER_VERSION -char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; - -/* Construct a string literal encoding the version number components. */ -#elif defined(COMPILER_VERSION_MAJOR) -char const info_version[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', - COMPILER_VERSION_MAJOR, -# ifdef COMPILER_VERSION_MINOR - '.', COMPILER_VERSION_MINOR, -# ifdef COMPILER_VERSION_PATCH - '.', COMPILER_VERSION_PATCH, -# ifdef COMPILER_VERSION_TWEAK - '.', COMPILER_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct a string literal encoding the internal version number. */ -#ifdef COMPILER_VERSION_INTERNAL -char const info_version_internal[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', - 'i','n','t','e','r','n','a','l','[', - COMPILER_VERSION_INTERNAL,']','\0'}; -#elif defined(COMPILER_VERSION_INTERNAL_STR) -char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; -#endif - -/* Construct a string literal encoding the version number components. */ -#ifdef SIMULATE_VERSION_MAJOR -char const info_simulate_version[] = { - 'I', 'N', 'F', 'O', ':', - 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', - SIMULATE_VERSION_MAJOR, -# ifdef SIMULATE_VERSION_MINOR - '.', SIMULATE_VERSION_MINOR, -# ifdef SIMULATE_VERSION_PATCH - '.', SIMULATE_VERSION_PATCH, -# ifdef SIMULATE_VERSION_TWEAK - '.', SIMULATE_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; 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Motor::readRegister32(uint16_t start_addr, int32_t &out) { // Read raw current in ‰ (thousandths of rated torque) int16_t Motor::getActualCurrent() { - int16_t current; - if (!readRegister(REG_ACTUAL_CURRENT, current)) { + uint16_t raw_current; + if (!readRegister(REG_ACTUAL_CURRENT, raw_current)) { return 0; } - return current; + return static_cast(raw_current); // safe cast to signed } // TODO: DOUBLE CHECK BELOW CONSTANTS diff --git a/motors/motor_api.h b/motors/motor_api.h index 429e7f3..47a879e 100644 --- a/motors/motor_api.h +++ b/motors/motor_api.h @@ -53,16 +53,16 @@ class Motor { bool setOperationMode(int16_t mode); bool stopMotor(); - bool setMaxTorque(int torque); + bool setMaxTorque(uint16_t max_torque); bool setTargetTorque(int16_t torque_permille); - uint16_t getActualTorque(); + int16_t getActualTorque(); bool setTargetVelocity(int32_t velocity); int32_t getActualVelocity(); bool setPosition(int32_t position); int32_t getActualPosition(); - double Motor::getDegrees(); + double getDegrees(); bool setRatedCurrent(uint32_t current_mA); uint32_t getRatedCurrent(); @@ -70,7 +70,7 @@ class Motor { double getActualCurrent_mA(); // Status - int getStatus(); + uint16_t getStatus(); bool isConnected() const { return connected; } private: @@ -81,11 +81,11 @@ class Motor { // Register Access Helpers bool writeRegister(uint16_t reg, uint16_t value); - bool readRegister(uint16_t reg); + bool readRegister(uint16_t reg, uint16_t &value); // For 32-bit register access bool writeRegister32(uint16_t start_addr, int32_t value); - bool readRegister32(uint16_t start_addr); + bool readRegister32(uint16_t start_addr, int32_t &out); }; #endif // MOTOR_API_H \ No newline at end of file diff --git a/tests/motor_api_test.cpp b/tests/motor_api_test.cpp index 9ca9ab7..5128190 100644 --- a/tests/motor_api_test.cpp +++ b/tests/motor_api_test.cpp @@ -1,4 +1,4 @@ -#include "motors/motor_api.h" +#include "../motors/motor_api.h" #include #include #include @@ -29,22 +29,30 @@ class MotorTest : public ::testing::Test { }; // Test Initialization -TEST_F(MotorTest, Initialization) { - EXPECT_NE(motor, nullptr); // Ensure motor was created -} +// TEST_F(MotorTest, Initialization) { +// EXPECT_NE(motor, nullptr); // Ensure motor was created +// } -// Test Setting Speed -TEST_F(MotorTest, SetSpeed) { - ASSERT_NE(motor, nullptr); - EXPECT_TRUE(motor->setOperationMode(PV_MODE)); // Set to Profile Velocity Mode - EXPECT_TRUE(motor->setSpeed(1000)); -} +// // Test Setting Speed +// TEST_F(MotorTest, SetSpeed) { +// ASSERT_NE(motor, nullptr); +// EXPECT_TRUE(motor->setOperationMode(PV_MODE)); // Set to Profile Velocity Mode +// int speed = 1000; +// EXPECT_TRUE(motor->setTargetVelocity(speed)); +// // std::this_thread::sleep_for(std::chrono::seconds(2)); +// ASSERT_EQ(speed, motor->getActualVelocity()) << "Target Velocity has not been reached"; +// } // Test Setting Torque TEST_F(MotorTest, SetTorque) { ASSERT_NE(motor, nullptr); EXPECT_TRUE(motor->setOperationMode(PT_MODE)); // Set to Profile Torque Mode - EXPECT_TRUE(motor->setTorque(300)); + // EXPECT_TRUE(motor->setTargetTorque(-200)); + int torque = 100; + EXPECT_TRUE(motor->setTargetTorque(torque)); + std::this_thread::sleep_for(std::chrono::seconds(1)); + ASSERT_EQ(torque, motor->getActualTorque()) << "Target Torque has not been reached"; + } // Test Stopping Motor From d1f20b1dfe805b3c79b1b5a1c27ab2b00a0ce233 Mon Sep 17 00:00:00 2001 From: Luis Pinto Date: Sun, 13 Apr 2025 22:25:02 +0100 Subject: [PATCH 16/23] motor api merge errors --- build/motor_api_test | Bin 1217792 -> 1217792 bytes motors/motor_api.cpp | 4 ++-- motors/motor_api.h | 3 --- 3 files changed, 2 insertions(+), 5 deletions(-) diff --git a/build/motor_api_test b/build/motor_api_test index 2d0e3aa0351a67739a76a66ff26228c13fbab5f8..25eaf7cc278e38f990a16295696b4dbcd727a465 100755 GIT binary patch delta 233802 zcmbS!d0-R8`*&v3D}_Q!TS9t~5}=f;lmg`@CESNlKm-wKDF`Sas354=)QaMPc3f}} 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