The automatic servo test's TXT report, line by line. More...

#include "servo_test.h"
#include <math.h>
#include <stdio.h>
#include <string.h>

Data Structures
struct	cursor_t
	Cursor that prints one report line, found by counting. More...

Macros
#define	S(id)
	A word or a line format of the report, in the run's language.
#define	CELL_MAX_A 99.999f
	The largest magnitude a step table cell prints, A: "-99999" mA is its widest text, 6 cells. No meter reads near it: the INA3221 reads to 32.760A on its smallest shunt.

Functions
static bool	here (cursor_t *c)
	Count one line, and tell whether it is the one asked for.
static void	limit_a (const cursor_t c, char b, size_t n, float a)
	A limit's value, or OFF for 0.
static const char *	verdict_word (const cursor_t *c, bool checked, bool measured, bool over)
	The word for one check: NOT CHECKED, NOT MEASURED, FAIL or PASS.
static void	ma_text (char *b, size_t n, float a)
	A current in whole mA, or "--" for none.
static void	amps (char b, size_t n, const servo_test_mean_t m)
	A mean in whole mA, or "--" for none.
static void	brownout_ran (const servo_test_t t, const servo_test_step_t first, const servo_test_step_t *last)
	The first and the last brown-out voltage that ran to its end; NULL for none.
static bool	header_lines (const servo_test_t t, cursor_t c)
	The head of the report: title, result, device and firmware, the meter and supply, the readings' rates, the counts, the duration and the rows.
static bool	settings_lines (const servo_test_t t, cursor_t c)
	The settings lines: the servo, the rate, the danger tag, HV, the ends, the steps, the brown-out walk, the current limit, the timing, the length and the limits.
static bool	step_unseen (const servo_test_step_t *s)
	Whether none of a step's counted moves showed movement: the step is not measurable.
static void	step_row (const cursor_t c, const servo_test_step_t s)
	One step's line of the steps table, 92 cells at most: the columns end where the two heading lines end their words.
static bool	step_lines (const servo_test_t t, cursor_t c)
	The steps table: two heading lines, one line per characterisation step and, under a step cut short or not measurable, a line that says so; then the column notes and the threshold, arrival and late rules.
static void	deg_end (const servo_test_t t, const servo_test_step_t s, unsigned end, char b, char eb, size_t n)
	A step's mean end angle at `end` and its error against the commanded one, both on the circle (servo_test_enc_end()), signed, or "--" for none.
static bool	encoder_lines (const servo_test_t t, cursor_t c)
	The encoder lines: one line per characterisation step with its end angles, then the counts and the rules. Nothing when the encoder is off.
static bool	brownout_lines (const servo_test_t t, cursor_t c)
	The brown-out lines: the walk's result, then the threshold rule.
static void	stall_line (const cursor_t c, const servo_test_cfg_t g, bool by_limit)
	STALL AT against the current limit, or against the meter's range.
bool	servo_test_stall_note (const servo_test_cfg_t cfg, char buf, size_t n)
	The line that says STALL AT cannot be reached in a run of `cfg`, in the language of `cfg->text`, into `buf:` against the current limit where that is the reason, else against the meter's range (servo_test_stall_unreachable()). False, and `buf` empty, when a reading can pass STALL AT.
static bool	limit_lines (const servo_test_t t, cursor_t c)
	The limits lines: the idle, hold, travel, stall, late and unseen checks against their limits, and the first brown-out voltage.
static bool	unmeasured_lines (const servo_test_t t, cursor_t c)
	The unmeasured notes: the heading and the lines that say what the run did not measure.
bool	servo_report_line (const servo_test_t t, unsigned idx, char buf, size_t n)
	Line `idx` of the report into `buf`, in the language of `t->cfg.text`; false past the last.

Detailed Description

The automatic servo test's TXT report, line by line.

The lines come in sections, in this order: header, settings, steps, encoder, brown-out, limits and unmeasured notes; servo_report_line() picks one line by its index.

Its words are entries of servo_str.c's table, looked up in the language of the table the run was started with (S() below). A report is UTF-8, as the table's strings are.

SPDX-License-Identifier: MIT

Macro Definition Documentation

◆ S

#define S ( id )

Value:

servo_str_in(c->text, SERVO_STR_##id)

servo_str_in

const char * servo_str_in(const char *const *table, servo_str_t id)

Definition servo_str.c:47

A word or a line format of the report, in the run's language.

Function Documentation

◆ amps()

void amps	(	char *	b,
		size_t	n,
		const servo_test_mean_t *	m )

static

A mean in whole mA, or "--" for none.

Parameters

b	Out: the mean in whole mA, or "--".
n	Size of b, bytes.
m	Mean to print; no reading gives "--".

◆ brownout_lines()

bool brownout_lines	(	const servo_test_t *	t,
		cursor_t *	c )

static

The brown-out lines: the walk's result, then the threshold rule.

Parameters

t	Run state.
c	Cursor.

Returns: true when the line asked for is one of these.

◆ brownout_ran()

void brownout_ran	(	const servo_test_t *	t,
		const servo_test_step_t **	first,
		const servo_test_step_t **	last )

static

The first and the last brown-out voltage that ran to its end; NULL for none.

Parameters

t	Run state.
first	Out: the first such step, or NULL for none. NULL to skip.
last	Out: the last such step, or NULL for none. NULL to skip.

◆ deg_end()

void deg_end	(	const servo_test_t *	t,
		const servo_test_step_t *	s,
		unsigned	end,
		char *	b,
		char *	eb,
		size_t	n )

static

A step's mean end angle at end and its error against the commanded one, both on the circle (servo_test_enc_end()), signed, or "--" for none.

Parameters

t	Run state.
s	Step.
end	0 for the low end, 1 for the high end.
b	Out: the mean angle, degrees, or "--" for none.
eb	Out: the error, degrees, or "--" for none.
n	Size of b and eb, bytes.

◆ encoder_lines()

bool encoder_lines	(	const servo_test_t *	t,
		cursor_t *	c )

static

The encoder lines: one line per characterisation step with its end angles, then the counts and the rules. Nothing when the encoder is off.

Parameters

t	Run state.
c	Cursor.

Returns: true when the line asked for is one of these.

◆ header_lines()

bool header_lines	(	const servo_test_t *	t,
		cursor_t *	c )

static

The head of the report: title, result, device and firmware, the meter and supply, the readings' rates, the counts, the duration and the rows.

Parameters

t	Run state.
c	Cursor.

Returns: true when the line asked for is one of the head's lines.

◆ here()

bool here ( cursor_t * c )

static

Count one line, and tell whether it is the one asked for.

Parameters

c	Cursor. Its count goes up whether or not this is the line.

Returns: true when the line counted is the one asked for.

◆ limit_a()

void limit_a	(	const cursor_t *	c,
		char *	b,
		size_t	n,
		float	a )

static

A limit's value, or OFF for 0.

Parameters

c	Cursor; its text gives the language of OFF.
b	Out: the text.
n	Size of b, bytes.
a	Limit, A; 0 or less is OFF.

◆ limit_lines()

bool limit_lines	(	const servo_test_t *	t,
		cursor_t *	c )

static

The limits lines: the idle, hold, travel, stall, late and unseen checks against their limits, and the first brown-out voltage.

Parameters

t	Run state.
c	Cursor.

Returns: true when the line asked for is one of these.

◆ ma_text()

void ma_text	(	char *	b,
		size_t	n,
		float	a )

static

A current in whole mA, or "--" for none.

Parameters

b	Out: the current in whole mA, at most 6 cells, or "--".
n	Size of b, bytes.
a	Current, A; one not a number or beyond CELL_MAX_A gives "--".

◆ servo_report_line()

bool servo_report_line	(	const servo_test_t *	t,
		unsigned	idx,
		char *	buf,
		size_t	n )

Line idx of the report into buf, in the language of t->cfg.text; false past the last.

Parameters

t	Run state.
idx	Index of the line asked for.
buf	Out: the line. NULL is refused.
n	Size of buf, bytes; 0 is refused.

Returns: true when line idx exists and was written into buf; false past the last line, or for a NULL argument or n of 0.

◆ servo_test_stall_note()

bool servo_test_stall_note	(	const servo_test_cfg_t *	cfg,
		char *	buf,
		size_t	n )

The line that says STALL AT cannot be reached in a run of cfg, in the language of cfg->text, into buf: against the current limit where that is the reason, else against the meter's range (servo_test_stall_unreachable()). False, and buf empty, when a reading can pass STALL AT.

Parameters

cfg	Configuration of the run.
buf	Out: the line.
n	Size of buf, bytes.

Returns: true when the note was written; false when a reading can pass STALL AT.

◆ settings_lines()

bool settings_lines	(	const servo_test_t *	t,
		cursor_t *	c )

static

The settings lines: the servo, the rate, the danger tag, HV, the ends, the steps, the brown-out walk, the current limit, the timing, the length and the limits.

Parameters

t	Run state.
c	Cursor.

Returns: true when the line asked for is one of the settings lines.

◆ stall_line()

void stall_line	(	const cursor_t *	c,
		const servo_test_cfg_t *	g,
		bool	by_limit )

static

STALL AT against the current limit, or against the meter's range.

Parameters

c	Cursor; buf receives the line.
g	Configuration of the run.
by_limit	true for the current limit, false for the meter's range.

◆ step_lines()

bool step_lines	(	const servo_test_t *	t,
		cursor_t *	c )

static

The steps table: two heading lines, one line per characterisation step and, under a step cut short or not measurable, a line that says so; then the column notes and the threshold, arrival and late rules.

Parameters

t	Run state.
c	Cursor.

Returns: true when the line asked for is one of these.

◆ step_row()

void step_row	(	const cursor_t *	c,
		const servo_test_step_t *	s )

static

One step's line of the steps table, 92 cells at most: the columns end where the two heading lines end their words.

Voltages take 5 cells, currents 6 (whole mA, "-99999" the widest, see ma_text()), the travel times 6 and 7 and the counts 5, 4 and 6, one space between columns. A count is at most SERVO_TEST_MOVES_MAX.

Parameters

c	Cursor; buf receives the line.
s	A step that began.

◆ step_unseen()

bool step_unseen ( const servo_test_step_t * s )

static

Whether none of a step's counted moves showed movement: the step is not measurable.

Parameters

s Step.

Returns: true when the step counted moves and every one went unseen.

◆ unmeasured_lines()

bool unmeasured_lines	(	const servo_test_t *	t,
		cursor_t *	c )

static

The unmeasured notes: the heading and the lines that say what the run did not measure.

Parameters

t	Run state.
c	Cursor.

Returns: true when the line asked for is one of these.

◆ verdict_word()

const char * verdict_word	(	const cursor_t *	c,
		bool	checked,
		bool	measured,
		bool	over )

static

The word for one check: NOT CHECKED, NOT MEASURED, FAIL or PASS.

Parameters

c	Cursor; its text gives the language.
checked	true when the check has a limit.
measured	true when a value was measured.
over	true when the value is over the limit.

Returns: the word, from the run's language table.

Data Structures

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ S

Function Documentation

◆ amps()

◆ brownout_lines()

◆ brownout_ran()

◆ deg_end()

◆ encoder_lines()

◆ header_lines()

◆ here()

◆ limit_a()

◆ limit_lines()

◆ ma_text()

◆ servo_report_line()

◆ servo_test_stall_note()

◆ settings_lines()

◆ stall_line()

◆ step_lines()

◆ step_row()

◆ step_unseen()

◆ unmeasured_lines()

◆ verdict_word()