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movement set read write to nvs working

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superkor
2026-01-28 00:47:22 -05:00
committed by Johnathon Slightham
parent 91097d2a80
commit 780eff2852
10 changed files with 288 additions and 58 deletions
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2
main/README.md
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@@ -42,6 +42,8 @@ To run the sample code, add the compiler variable `PP_MOVE=1` when compiling.
You can use the `SRC_BOARD` compiler variable to set a custom board id.
Sample usage: `idf.py -B ./build_movement build -D SRC_BOARD=101 -D PP_MOVE=1`
The sample topology used to test:
![Sample Topology Used for Testing](images/sample_topology.png)

77
main/main_preprogrammed_test.cpp
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@@ -10,6 +10,9 @@
#include "constants/datalink.h"
#include "TopologyManager.h"
#include "MovementSetManager.h"
#include "MovementSetBuilder.h"
#include "flatbuffers_generated/RobotModule_generated.h"
#include <esp_netif.h>
#include <esp_event.h>
@@ -238,6 +241,80 @@ extern "C" [[noreturn]] void app_main(void) {
ESP_LOGI(MOVEMENT_DEBUG_TAG, "Current topology is correct");
//Testing Movements
MovementSetManager movement_set_mgr = MovementSetManager();
std::unordered_map<uint8_t, std::vector<MovementEntryData>> movements = {
{0, {
{69, (uint8_t)ModuleType_DC_MOTOR, 0, Movement::ConditionBlob(0,0,0,0), (uint8_t)ACK_VALUES::NO_ACK, 0, 0},
{67, (uint8_t)ModuleType_SERVO_1, 0, Movement::ConditionBlob(0,0,0,0), (uint8_t)ACK_VALUES::NO_ACK, 0, 0},
}},
{1, {
{198, (uint8_t)ModuleType_BATTERY, 0, Movement::ConditionBlob(0,0,0,0), (uint8_t)ACK_VALUES::NO_ACK, 0, 0}
}},
{2, {
{56, (uint8_t)ModuleType_SERVO_1, 0, Movement::ConditionBlob(0,0,0,0), (uint8_t)ACK_VALUES::NO_ACK, 0, 0},
{69, (uint8_t)ModuleType_DC_MOTOR, 0, Movement::ConditionBlob(0,0,0,0), (uint8_t)ACK_VALUES::NO_ACK, 0, 0},
{26, (uint8_t)ModuleType_SERVO_2, 0, Movement::ConditionBlob(0,0,0,0), (uint8_t)ACK_VALUES::NO_ACK, 0, 0},
}},
{3, {
{69, (uint8_t)ModuleType_DC_MOTOR, 0, Movement::ConditionBlob(0,0,0,0), (uint8_t)ACK_VALUES::NO_ACK, 0, 0},
{67, (uint8_t)ModuleType_SERVO_1, 0, Movement::ConditionBlob(0,0,0,0), (uint8_t)ACK_VALUES::NO_ACK, 0, 0},
}},
};
for (auto& [index, movement_vector] : movements){
for (auto& movement : movement_vector){
res = movement_set_mgr.add_movement(movement, index);
if (res != ESP_OK){
ESP_LOGE(MOVEMENT_DEBUG_TAG, "Failed to insert movement for board id %d at index %d", movement.board_id, index);
restart();
}
}
}
res = movement_set_mgr.write_nvs_movement_set();
if (res != ESP_OK){
ESP_LOGE(MOVEMENT_DEBUG_TAG, "Failed to write movement set to nvs");
restart();
}
std::unordered_map<uint8_t, std::vector<MovementEntryData>> movements_test;
res = movement_set_mgr.get_nvs_movement_set(movements_test);
if (res != ESP_OK){
ESP_LOGE(MOVEMENT_DEBUG_TAG, "Failed to get movement set from nvs");
restart();
}
for (const auto& [key, vec] : movements) {
auto it = movements_test.find(key);
if (it == movements_test.end()) {
ESP_LOGE(MOVEMENTS_DEBUG_TAG, "Missing key %d", key);
restart();
}
const auto& vec2 = it->second;
if (vec.size() != vec2.size()) {
ESP_LOGE(MOVEMENTS_DEBUG_TAG, "Size mismatch at key %d: %d vs %d", key, vec.size(), vec2.size());
restart();
}
for (size_t i = 0; i < vec.size(); ++i) {
if (!(vec[i] == vec2[i])) {
ESP_LOGE(MOVEMENTS_DEBUG_TAG,
"Mismatch at key %d index %d: board_id %d vs %d",
key, i, vec[i].board_id, vec2[i].board_id);
restart();
}
}
}
ESP_LOGI(MOVEMENTS_DEBUG_TAG, "Successfully got movement set from nvs correctly");
restart();
while(true){