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cxx/tests/fitpack.cpp

@@ -0,0 +1,127 @@
+#include <algorithm>
+#include <functional>
+#include <iostream>
+#include <random>
+#include <ranges>
+
+#include "../fitpack/fitpack.h"
+
+int tests_fitpack(int, char**)
+{
+    size_t nt = 30, np = 60, N = nt * np, i = 1;
+    // size_t nt = 10, np = 20, N = nt * np, i = 1;
+    double ts = std::numbers::pi / (nt + 1);
+    double ps = 2.0 * std::numbers::pi / (np + 1);
+
+    std::vector<double> tetha(N), phi(N), func(N);
+
+    auto gen_func = [](double st, size_t& idx) {
+        double v = st * idx;
+        ++idx;
+
+        return v;
+    };
+
+    auto print_func = [](const auto& r, std::string_view name) {
+        std::cout << name << ": ";
+        for (auto& el : r) {
+            std::cout << el << " ";
+        }
+        std::cout << "\n";
+    };
+
+
+    // std::ranges::generate(tetha, std::bind(gen_func, ts, i));
+
+    // i = 1;
+    // std::ranges::generate(phi, std::bind(gen_func, ps, i));
+
+    size_t k = 1;
+    i = 0;
+    for (size_t j = 0; j < nt; ++j) {
+        std::ranges::fill_n(tetha.begin() + i * np, np, ts * (i + 1));
+        std::ranges::generate(phi | std::views::drop(i * np) | std::views::take(np), std::bind(gen_func, ps, k));
+        ++i;
+        k = 1;
+    }
+
+    // std::uniform_real_distribution<double> distr{-0.1, 0.1};
+    std::normal_distribution<double> distr{0.0, 1.0};
+    std::random_device device;
+    std::mt19937 engine{device()};
+
+    std::ranges::generate(func, [ii = 0, &distr, &engine, &tetha, &phi]() mutable {
+        double v = (5.0 + tetha[ii]) * 1.3 + (3.0 + phi[ii]) * 3.1 + distr(engine);
+        ++ii;
+        return v;
+    });
+
+
+    int ntk = 24, npk = 29, nf = (ntk + 4) * (npk + 4);
+    // int ntk = 3, npk = 6, nf = (ntk + 4) * (npk + 4);
+    std::vector<double> tk(ntk + 8), pk(npk + 8), coeffs(nf);
+    ts = std::numbers::pi / (ntk + 1);
+    ps = 2.0 * std::numbers::pi / (npk + 1);
+
+    i = 1;
+    std::ranges::generate(tk | std::views::drop(4) | std::views::take(ntk), std::bind(gen_func, ts, i));
+    i = 1;
+    std::ranges::generate(pk | std::views::drop(4) | std::views::take(npk), std::bind(gen_func, ps, i));
+
+
+    double rs = 0.0;
+    int ec = mcc::fitpack::fitpack_sphere_fit(tetha, phi, func, 1.0, tk, pk, coeffs, rs);
+
+    std::cout << "FIT EC = " << ec << "\n";
+    std::cout << "FIT RESI = " << rs << "\n";
+
+    ntk += 8;
+    npk += 8;
+    std::ranges::fill(tk, -1);
+    std::ranges::fill(pk, -1);
+    ec = mcc::fitpack::fitpack_sphere_smooth(tetha, phi, func, 1.0, 1800.0, ntk, npk, tk, pk, coeffs, rs);
+
+    std::cout << "FIT EC = " << ec << "\n";
+    std::cout << "FIT RESI = " << rs << "\n";
+    std::cout << "NKNOTS: " << ntk << ", " << npk << "\n";
+
+
+    print_func(coeffs, "coeffs");
+
+    // print_func(tetha, "tetha");
+    // print_func(phi, "phi");
+    print_func(tk, "tetha_knots");
+    print_func(pk, "phi_knots");
+    print_func(func, "func");
+
+    std::cout << "\n\n";
+
+    k = 1;
+    ts = std::numbers::pi / (nt + 1);
+    std::ranges::generate_n(tetha.begin(), nt, std::bind(gen_func, ts, k));
+
+    std::vector<double> f_func;
+    tetha.resize(nt);
+    phi.resize(np);
+
+    tk.resize(ntk);
+    pk.resize(npk);
+
+    print_func(tetha, "TETHA:");
+    print_func(phi, "PHI:");
+
+    ec = mcc::fitpack::fitpack_eval_spl2d(tk, pk, coeffs, tetha, phi, f_func);
+    // ec = mcc::fitpack::fitpack_eval_spl2d(pk, tk, coeffs, phi, tetha, f_func);
+    std::cout << "EVAL EC = " << ec << "\n";
+    print_func(f_func, "func");
+
+    std::cout << "\n\n";
+
+    for (size_t l = 0; l < f_func.size(); ++l) {
+        auto r = f_func[l] - func[l];
+        std::cout << r << " ";
+    }
+    std::cout << "\n";
+
+    return 0;
+}

cxx/tests/fsm.cpp

@@ -0,0 +1,147 @@
+#include <cxxabi.h>
+#include <iostream>
+#include <typeinfo>
+
+#include "../mcc_finite_state_machine.h"
+
+using namespace mcc;
+
+
+struct S {
+};
+
+
+struct EV1 {
+    static constexpr std::string_view ID = "EV1";
+
+    void onTransit()
+    {
+        //
+        std::cout << "EV1::onTransit()\n";
+    }
+};
+
+struct EV2 {
+    static constexpr std::string_view ID = "EV2";
+};
+
+struct EV3 {
+    static constexpr std::string_view ID = "EV3";
+};
+
+struct EVN {
+    static constexpr std::string_view ID = "EVN";
+};
+
+struct ST1;
+struct ST2;
+
+struct STN {
+    static constexpr std::string_view ID = "STN";
+    using transition_t = fsm::fsm_transition_table_t<std::pair<EV1, STN>, std::pair<EV2, ST2>>;
+
+    void enter()
+    {
+        std::cout << "transit to " << ID << "-state\n";
+    }
+
+    void exit()
+    {
+        std::cout << "transit from " << ID << "-state\n";
+    }
+};
+
+struct ST3 {
+    static constexpr std::string_view ID = "ST3";
+    using transition_t = fsm::fsm_transition_table_t<std::pair<EV1, ST1>, std::pair<EV2, ST2>>;
+
+    void enter(EV3& ev)
+    {
+        std::cout << "transit to " << ID << "-state\n";
+    }
+
+    void exit()
+    {
+        std::cout << "transit from " << ID << "-state\n";
+    }
+};
+
+struct ST2 {
+    static constexpr std::string_view ID = "ST2";
+    using transition_t = fsm::fsm_transition_table_t<std::pair<EV2, STN>, std::pair<EV3, ST3>>;
+
+    void enter(EV2& ev)
+    {
+        std::cout << "transit to " << ID << "-state\n";
+    }
+
+    void exit()
+    {
+        std::cout << "transit from " << ID << "-state\n";
+    }
+};
+
+struct ST1 {
+    static constexpr std::string_view ID = "ST1";
+    using transition_t =
+        fsm::fsm_transition_table_t<std::pair<EV1, ST2>, std::pair<EV2, STN>, std::pair<EV3, STN>, std::pair<EV3, STN>>;
+
+    void enter()
+    {
+        std::cout << "transit to " << ID << "-state\n";
+    }
+
+    void exit()
+    {
+        std::cout << "transit from " << ID << "-state\n";
+    }
+};
+
+
+
+int tests_fsm(int, char**)
+{
+    std::cout << "\n\n\n------- mcc_finite_state_machine.h -------\n";
+
+
+
+    fsm::MccFiniteStateMachine fsmach(ST1{});
+
+    std::cout << "STATES: ";
+    for (auto& el : fsmach.stateIDs()) {
+        std::cout << std::quoted(el) << " ";
+    }
+    std::cout << "\n";
+
+    std::cout << "EVENTS: ";
+    for (auto& el : fsmach.eventIDs()) {
+        std::cout << std::quoted(el) << " ";
+    }
+    std::cout << "\n";
+
+    fsmach.dispatchEvent<EV1>();
+    fsmach.dispatchEvent<EV3>();
+    fsmach.dispatchEvent<EV2>();
+
+    // fsmach.dispatchEvent<EVN>();
+
+    using tab_t = fsm::fsm_transition_table_t<std::pair<EV1, ST2>, std::pair<EV3, ST1>>;
+
+    using st_t = tab_t::find_state_by_event_t<EV2>;
+
+    int status;
+    char* aa = abi::__cxa_demangle(typeid(st_t).name(), NULL, NULL, &status);
+    std::cout << "aa = " << aa << "\n";
+    free(aa);
+
+    std::cout << "\nAfter std::move\n";
+    auto fsmach1 = std::move(fsmach);
+    std::cout << "STATES: ";
+    for (auto& el : fsmach1.stateIDs()) {
+        std::cout << std::quoted(el) << " ";
+    }
+    std::cout << "\n";
+    std::cout << "current state: " << std::quoted(fsmach1.currentStateID()) << "\n";
+
+    return 0;
+}

cxx/tests/mount.cpp

@@ -0,0 +1,15 @@
+#include "../mcc_mount.h"
+#include "../mcc_mount_events_states.h"
+
+int tests_mount(int, char**)
+{
+    using namespace mcc;
+
+    using mount_t = MccMount<MccMountConfig<MccMountType::CROSSAXIS_TYPE>, MccMountTelemetry>;
+
+    mount_t mount(MccMountStateIDLE<mount_t>{});
+
+
+
+    return 0;
+}