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RSDK 1020 Part I - refactor base, encoded motor struct and tests. #2227

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merged 23 commits into from
Apr 20, 2023
Merged

RSDK 1020 Part I - refactor base, encoded motor struct and tests. #2227

merged 23 commits into from
Apr 20, 2023

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randhid
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@randhid randhid commented Apr 18, 2023 •
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Original PR: #2211

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Apr 18, 2023
@randhid randhid requested review from penguinland, a team and martha-johnston and removed request for penguinland and a team April 19, 2023 16:34
randhid
randhid commented Apr 19, 2023
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components/motor/gpio/motor_encoder_test.go
@@ -33,6 +35,7 @@ func (f *fakeDirectionAware) DirectionMoving() int64 {
}

func TestMotorEncoder1(t *testing.T) {
t.Skip()
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@penguinland skips here will unblock you for Digital interrupts.

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My workaround to get #2236 to pass the tests was to remove the one line that messed up the timing on the race conditions (b08b60d, reverted in 2c6a32a). The rest is already merged. In the future, we can make the tests more robust, and add that log line back in.

martha-johnston
martha-johnston reviewed Apr 19, 2023
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components/motor/gpio/motor_encoder.go Outdated
if rdkutils.Float64AlmostEqual(em.ticksPerRotation, 0, 0.01) {
em.ticksPerRotation = 1
}

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[q] why does this need to use Float64AlmostEqual but mc.TicksPerRotation on line 64 can be directly compared to 0?

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good catch! thanks!

martha-johnston
martha-johnston reviewed Apr 19, 2023
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components/motor/gpio/motor_encoder.go Outdated
@@ -399,17 +405,18 @@ func (m *EncodedMotor) rpmMonitorPass(pos, lastPos, now, lastTime int64, rpmDebu
// slow down so we don't overshoot
// halve and quarter rpm values based on seconds remaining in move

desiredRPM := m.state.desiredRPM
// desiredRPM := m.state.desiredRPM
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[nit] maybe remove unless you want to keep it for future reference since this is only part 1

martha-johnston
martha-johnston approved these changes Apr 19, 2023
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LGTM with the caveat that I don't 100% understand what some things are doing, but feel free to ignore my questions if you have a good understanding of the reasoning. I'll take one more look once the tests/checks are all passing

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Apr 20, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Apr 20, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Apr 20, 2023
@randhid randhid added the appimage-ignore-tests Build AppImage of PR and ignore tests label Apr 20, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Apr 20, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Apr 20, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Apr 20, 2023
@randhid randhid changed the title RSDK 1020 Part I - refactor base, encoded motor and tests. RSDK 1020 Part I - refactor base, encoded motor struct and tests. Apr 20, 2023
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Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 64% 0.00% ➖
go.viam.com/rdk/components/arm/fake 31% 0.00% ❌
go.viam.com/rdk/components/arm/universalrobots 40% 0.00% ❌
go.viam.com/rdk/components/arm/wrapper 19% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 6% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 6% 0.00% ❌
go.viam.com/rdk/components/audioinput 53% +0.34% ➖
go.viam.com/rdk/components/base 50% -5.89% ❌
go.viam.com/rdk/components/base/agilex 62% 0.00% ➖
go.viam.com/rdk/components/base/boat 41% 0.00% ❌
go.viam.com/rdk/components/base/fake 53% 0.00% ➖
go.viam.com/rdk/components/base/wheeled 74% 0.00% ✅
go.viam.com/rdk/components/board 65% +0.15% ➖
go.viam.com/rdk/components/board/fake 38% 0.00% ❌
go.viam.com/rdk/components/board/genericlinux 22% 0.00% ❌
go.viam.com/rdk/components/board/numato 19% 0.00% ❌
go.viam.com/rdk/components/board/pi 50% 0.00% ➖
go.viam.com/rdk/components/camera 64% 0.00% ➖
go.viam.com/rdk/components/camera/align 64% 0.00% ➖
go.viam.com/rdk/components/camera/fake 71% 0.00% ✅
go.viam.com/rdk/components/camera/ffmpeg 76% -1.43% ✅
go.viam.com/rdk/components/camera/rtsp 43% -0.86% ❌
go.viam.com/rdk/components/camera/transformpipeline 78% 0.00% ✅
go.viam.com/rdk/components/camera/videosource 34% 0.00% ❌
go.viam.com/rdk/components/encoder 68% 0.00% ➖
go.viam.com/rdk/components/encoder/AMS 63% 0.00% ➖
go.viam.com/rdk/components/encoder/fake 75% 0.00% ✅
go.viam.com/rdk/components/encoder/incremental 75% 0.00% ✅
go.viam.com/rdk/components/encoder/single 78% 0.00% ✅
go.viam.com/rdk/components/gantry 58% 0.00% ➖
go.viam.com/rdk/components/gantry/multiaxis 85% 0.00% ✅
go.viam.com/rdk/components/gantry/oneaxis 86% 0.00% ✅
go.viam.com/rdk/components/generic 82% 0.00% ✅
go.viam.com/rdk/components/gripper 67% 0.00% ➖
go.viam.com/rdk/components/input 86% 0.00% ✅
go.viam.com/rdk/components/input/fake 86% 0.00% ✅
go.viam.com/rdk/components/input/gpio 84% 0.00% ✅
go.viam.com/rdk/components/motor 75% -0.36% ✅
go.viam.com/rdk/components/motor/dimensionengineering 63% 0.00% ➖
go.viam.com/rdk/components/motor/dmc4000 69% 0.00% ➖
go.viam.com/rdk/components/motor/fake 56% 0.00% ➖
go.viam.com/rdk/components/motor/gpio 42% -23.53% ❌
go.viam.com/rdk/components/motor/gpiostepper 51% -0.61% ➖
go.viam.com/rdk/components/motor/tmcstepper 62% 0.00% ➖
go.viam.com/rdk/components/motor/ulnstepper 52% 0.00% ➖
go.viam.com/rdk/components/movementsensor 74% 0.00% ✅
go.viam.com/rdk/components/movementsensor/adxl345 66% 0.00% ➖
go.viam.com/rdk/components/movementsensor/cameramono 45% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 36% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsrtk 29% 0.00% ❌
go.viam.com/rdk/components/movementsensor/mpu6050 83% 0.00% ✅
go.viam.com/rdk/components/posetracker 84% 0.00% ✅
go.viam.com/rdk/components/sensor 66% 0.00% ➖
go.viam.com/rdk/components/sensor/ultrasonic 31% 0.00% ❌
go.viam.com/rdk/components/servo 66% 0.00% ➖
go.viam.com/rdk/components/servo/gpio 71% 0.00% ✅
go.viam.com/rdk/config 78% 0.00% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 77% 0.00% ✅
go.viam.com/rdk/examples/customresources/demos/remoteserver 0% 0.00% ❌
go.viam.com/rdk/grpc 25% 0.00% ❌
go.viam.com/rdk/ml 67% 0.00% ➖
go.viam.com/rdk/ml/inference 71% 0.00% ✅
go.viam.com/rdk/module 76% 0.00% ✅
go.viam.com/rdk/module/modmanager 80% 0.00% ✅
go.viam.com/rdk/motionplan 71% 0.00% ✅
go.viam.com/rdk/operation 82% 0.00% ✅
go.viam.com/rdk/pointcloud 69% +0.07% ➖
go.viam.com/rdk/protoutils 49% 0.00% ❌
go.viam.com/rdk/referenceframe 72% 0.00% ✅
go.viam.com/rdk/registry 83% 0.00% ✅
go.viam.com/rdk/resource 84% 0.00% ✅
go.viam.com/rdk/rimage 77% 0.00% ✅
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 75% 0.00% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 86% 0.00% ✅
go.viam.com/rdk/robot/client 82% 0.00% ✅
go.viam.com/rdk/robot/framesystem 65% 0.00% ➖
go.viam.com/rdk/robot/impl 81% 0.00% ✅
go.viam.com/rdk/robot/packages 80% 0.00% ✅
go.viam.com/rdk/robot/server 53% 0.00% ➖
go.viam.com/rdk/robot/web 64% 0.00% ➖
go.viam.com/rdk/robot/web/stream 87% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol/builtin 78% 0.00% ✅
go.viam.com/rdk/services/datamanager 75% 0.00% ✅
go.viam.com/rdk/services/datamanager/builtin 84% 0.00% ✅
go.viam.com/rdk/services/datamanager/datacapture 73% 0.00% ✅
go.viam.com/rdk/services/datamanager/datasync 0% 0.00% ❌
go.viam.com/rdk/services/mlmodel 84% 0.00% ✅
go.viam.com/rdk/services/mlmodel/tflitecpu 75% 0.00% ✅
go.viam.com/rdk/services/motion 53% 0.00% ➖
go.viam.com/rdk/services/motion/builtin 86% 0.00% ✅
go.viam.com/rdk/services/navigation 54% 0.00% ➖
go.viam.com/rdk/services/sensors 74% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 97% 0.00% ✅
go.viam.com/rdk/services/shell 25% 0.00% ❌
go.viam.com/rdk/services/slam 84% 0.00% ✅
go.viam.com/rdk/services/slam/builtin 74% 0.00% ✅
go.viam.com/rdk/services/slam/fake 90% 0.00% ✅
go.viam.com/rdk/services/slam/slam_copy/config 97% 0.00% ✅
go.viam.com/rdk/services/slam/slam_copy/dataprocess 71% 0.00% ✅
go.viam.com/rdk/services/slam/slam_copy/utils 100% 0.00% ✅
go.viam.com/rdk/services/vision 79% 0.00% ✅
go.viam.com/rdk/services/vision/builtin 73% 0.00% ✅
go.viam.com/rdk/session 97% 0.00% ✅
go.viam.com/rdk/spatialmath 84% 0.00% ✅
go.viam.com/rdk/subtype 92% 0.00% ✅
go.viam.com/rdk/utils 72% 0.00% ✅
go.viam.com/rdk/vision 26% 0.00% ❌
go.viam.com/rdk/vision/chess 80% 0.00% ✅
go.viam.com/rdk/vision/delaunay 87% 0.00% ✅
go.viam.com/rdk/vision/keypoints 92% 0.00% ✅
go.viam.com/rdk/vision/objectdetection 82% 0.00% ✅
go.viam.com/rdk/vision/odometry 60% 0.00% ➖
go.viam.com/rdk/vision/odometry/cmd 0% 0.00% ❌
go.viam.com/rdk/vision/segmentation 49% 0.00% ❌
go.viam.com/rdk/web/server 26% 0.00% ❌
Summary 66% (23135 / 35104) -0.37% ➖

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AppImages ready!
http://packages.viam.com/apps/viam-server/viam-server-pr-2227-x86_64.AppImage
http://packages.viam.com/apps/viam-server/viam-server-pr-2227-aarch64.AppImage

@randhid randhid merged commit 2651831 into viamrobotics:main Apr 20, 2023
bazile-clyde pushed a commit to bazile-clyde/rdk that referenced this pull request Jan 5, 2024
@randhid
RSDK 1020 Part I - refactor base, encoded motor struct and tests. (vi…
fbda5f1 
…amrobotics#2227)

This PR:
- removes some driver-level logic from the base client
- removes unused functions from wheeled base
- reactors motor setup
- skips tests that are meant to be refactored because of leaky goroutines
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@martha-johnston martha-johnston martha-johnston approved these changes

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@randhid @penguinland @martha-johnston @viambot