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hugo/feature/Add MotionKit #1166

Merged
merged 3 commits into from
Dec 8, 2022
Merged

hugo/feature/Add MotionKit #1166

merged 3 commits into from
Dec 8, 2022

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HPezz
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@HPezz HPezz commented Nov 25, 2022 •
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Lib using IMUKit angle computation to get angle control on reinforcer for instance.

  • Validated multiple times on my robot
  • Validated on a sealed robot

@HPezz HPezz self-assigned this Nov 25, 2022
@HPezz HPezz added this to the Future Release milestone Nov 25, 2022
@HPezz HPezz linked an issue Nov 25, 2022 that may be closed by this pull request
Story - Reinforcer #1085
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codecov bot commented Nov 25, 2022 •
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Codecov Report

Merging #1166 (fc28e5c) into develop (c0d4621) will increase coverage by 0.06%.
The diff coverage is 100.00%.

@@             Coverage Diff             @@
##           develop    #1166      +/-   ##
===========================================
+ Coverage    96.04%   96.10%   +0.06%     
===========================================
  Files          142      146       +4     
  Lines         3490     3544      +54     
===========================================
+ Hits          3352     3406      +54     
  Misses         138      138
Impacted Files Coverage Δ
libs/MotionKit/include/MotionKit.h 100.00% <100.00%> (ø)
libs/MotionKit/include/PID.h 100.00% <100.00%> (ø)
libs/MotionKit/source/MotionKit.cpp 100.00% <100.00%> (ø)
libs/MotionKit/source/PID.cpp 100.00% <100.00%> (ø)

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github-actions bot commented Nov 25, 2022 •
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File comparision analysis report

🔖 Info

  • base: develop / c0d4621 + mbed-os-6.15.1+fixes+gcc-11-support + -std=c++20
  • head: hugo/feature/Add-MotionKit / fc28e5c + mbed-os-6.15.1+fixes+gcc-11-support + -std=c++20
  • toolchain: GNU Arm Embedded Toolchain 10.3-2021.10 - 10.3.1 20210824
  • enable_log_debug: OFF
Target Flash Used (%) Flash Available (%) Static RAM (%)
bootloader 169972 (64%) 92172 (35%) 30928 (5%)
os 420792 (26%) 1143880 (73%) 80696 (15%)
Click to show memory sections 
| -          |      Hex |     Bytes |  KiB |
|------------|---------:|----------:|-----:|
| Flash      | 0x200000 | 2 097 152 | 2048 |
| SRAM       |  0x80000 |   524 288 |  512 |
| Bootloader |  0x40000 |   262 144 |  256 |
| Header     |   0x1000 |     4 096 |    4 |
| OS         | 0x17E000 | 1 564 672 | 1528 |
| Tail       |   0x1000 |     4 096 |    4 |
| Scratch    |  0x40000 |   262 144 |  256 |

📝 Summary

Click to show summary
  • ✔️ - existing target
  • ✨ - new target
  • ⚰️ - deleted target
  • ✅ - files are the same
  • ❌ - files are different
Target Status .bin .map Total Flash (base/head) Total Flash Δ Static RAM (base/head) Static RAM Δ
LekaOS ✔️ ✅ ✅ 420792 (20%) ø 80696 (15%) ø
bootloader ✔️ ✅ ✅ 169972 (8%) ø 30928 (5%) ø
functional_ut_boost_ut ✔️ ✅ ✅ 394076 (18%) ø 20456 (3%) ø
functional_ut_core_imu ✔️ ✅ ✅ 377068 (17%) ø 20432 (3%) ø
functional_ut_deep_sleep_core_buffered_serial ✔️ ✅ ✅ 360236 (17%) ø 20440 (3%) ø
functional_ut_deep_sleep_core_motor ✔️ ✅ ✅ 364476 (17%) ø 20480 (3%) ø
functional_ut_deep_sleep_core_pwm ✔️ ✅ ✅ 366612 (17%) ø 20480 (3%) ø
functional_ut_deep_sleep_log_kit ✔️ ✅ ✅ 352504 (16%) ø 20408 (3%) ø
functional_ut_deep_sleep_mbed_hal ✔️ ✅ ✅ 354216 (16%) ø 20408 (3%) ø
functional_ut_file_manager ✔️ ✅ ✅ 374536 (17%) ø 20696 (3%) ø
functional_ut_imu_kit ✔️ ✅ ✅ 382560 (18%) ø 20424 (3%) ø
functional_ut_io_expander ✔️ ✅ ✅ 359232 (17%) ø 20424 (3%) ø
functional_ut_qdac ✔️ ✅ ✅ 360400 (17%) ø 20424 (3%) ø
spike_lk_accel_gyro ✔️ ✅ ✅ 71184 (3%) ø 11808 (2%) ø
spike_lk_audio ✔️ ✅ ✅ 125076 (5%) ø 14568 (2%) ø
spike_lk_behavior_kit ✔️ ✅ ✅ 190200 (9%) ø 48144 (9%) ø
spike_lk_ble ✔️ ✅ ✅ 228960 (10%) ø 28320 (5%) ø
spike_lk_bluetooth ✔️ ✅ ✅ 82948 (3%) ø 11544 (2%) ø
spike_lk_cg_animations ✔️ ✅ ✅ 145848 (6%) ø 46528 (8%) ø
spike_lk_color_kit ✔️ ✅ ✅ 65776 (3%) ø 13744 (2%) ø
spike_lk_command_kit ✔️ ✅ ✅ 193048 (9%) ø 50968 (9%) ø
spike_lk_config_kit ✔️ ✅ ✅ 126956 (6%) ø 14312 (2%) ø
spike_lk_coreled ✔️ ✅ ✅ 76164 (3%) ø 13688 (2%) ø
spike_lk_core_touch_sensor ✔️ ✅ ✅ 80228 (3%) ø 12256 (2%) ø
spike_lk_event_queue ✔️ ✅ ✅ 74800 (3%) ø 12072 (2%) ø
spike_lk_file_manager_kit ✔️ ✅ ✅ 139016 (6%) ø 14416 (2%) ø
spike_lk_file_reception ✔️ ✅ ✅ 327112 (15%) ø 27576 (5%) ø
spike_lk_flash_memory ✔️ ✅ ✅ 63880 (3%) ø 11448 (2%) ø
spike_lk_fs ✔️ ✅ ✅ 174808 (8%) ø 47904 (9%) ø
spike_lk_imu_kit ✔️ ✅ ✅ 87700 (4%) ø 12176 (2%) ø
spike_lk_lcd ✔️ ✅ ✅ 162428 (7%) ø 46632 (8%) ø
spike_lk_led_kit ✔️ ✅ ✅ 103992 (4%) ø 14608 (2%) ø
spike_lk_log_kit ✔️ ✅ ✅ 63288 (3%) ø 12256 (2%) ø
spike_lk_motion_kit ✨ - - 100956 (4%) - 14168 (2%) -
spike_lk_motors ✔️ ✅ ✅ 62864 (2%) ø 11488 (2%) ø
spike_lk_qdac ✔️ ✅ ✅ 78628 (3%) ø 11816 (2%) ø
spike_lk_reinforcer ✔️ ✅ ✅ 103480 (4%) ø 14608 (2%) ø
spike_lk_rfid ✔️ ✅ ✅ 78956 (3%) ø 11504 (2%) ø
spike_lk_sensors_battery ✔️ ✅ ✅ 78196 (3%) ø 12568 (2%) ø
spike_lk_sensors_light ✔️ ✅ ✅ 60056 (2%) ø 11440 (2%) ø
spike_lk_sensors_microphone ✔️ ✅ ✅ 72496 (3%) ø 11504 (2%) ø
spike_lk_sensors_temperature_humidity ✔️ ✅ ✅ 67048 (3%) ø 11424 (2%) ø
spike_lk_sensors_touch ✔️ ✅ ✅ 68600 (3%) ø 11432 (2%) ø
spike_lk_serial_number ✔️ ✅ ✅ 114308 (5%) ø 14056 (2%) ø
spike_lk_ticker_timeout ✔️ ✅ ✅ 69052 (3%) ø 11632 (2%) ø
spike_lk_update_process_app_base ✔️ ✅ ✅ 143188 (6%) ø 15552 (2%) ø
spike_lk_update_process_app_update ✔️ ✅ ✅ 77632 (3%) ø 12352 (2%) ø
spike_lk_watchdog_isr ✔️ ✅ ✅ 80068 (3%) ø 13272 (2%) ø
spike_lk_wifi ✔️ ✅ ✅ 116392 (5%) ø 14808 (2%) ø
spike_mbed_blinky ✔️ ✅ ✅ 58032 (2%) ø 11400 (2%) ø
spike_mbed_watchdog_ticker_vs_thread ✔️ ✅ ✅ 63208 (3%) ø 12448 (2%) ø
spike_stl_cxxsupport ✔️ ✅ ✅ 58456 (2%) ø 11400 (2%) ø

🗺️ Map files diff output

Click to show diff list
spike_lk_motion_kit (click to expand) 


Flash used: 100956&nbsp;(4%) / total: 2097152
SRAM used: 14168&nbsp;(2%) / total: 524288

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github-actions bot commented Nov 25, 2022 •
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File comparision analysis report

🔖 Info

  • base: develop / c0d4621 + mbed-os-6.15.1+fixes+gcc-11-support + -std=c++20
  • head: hugo/feature/Add-MotionKit / fc28e5c + mbed-os-6.15.1+fixes+gcc-11-support + -std=c++20
  • toolchain: GNU Arm Embedded Toolchain 10.3-2021.10 - 10.3.1 20210824
  • enable_log_debug: ON
Target Flash Used (%) Flash Available (%) Static RAM (%)
bootloader 182476 (69%) 79668 (30%) 41624 (7%)
os 472084 (30%) 1092588 (69%) 91912 (17%)
Click to show memory sections 
| -          |      Hex |     Bytes |  KiB |
|------------|---------:|----------:|-----:|
| Flash      | 0x200000 | 2 097 152 | 2048 |
| SRAM       |  0x80000 |   524 288 |  512 |
| Bootloader |  0x40000 |   262 144 |  256 |
| Header     |   0x1000 |     4 096 |    4 |
| OS         | 0x17E000 | 1 564 672 | 1528 |
| Tail       |   0x1000 |     4 096 |    4 |
| Scratch    |  0x40000 |   262 144 |  256 |

📝 Summary

Click to show summary
  • ✔️ - existing target
  • ✨ - new target
  • ⚰️ - deleted target
  • ✅ - files are the same
  • ❌ - files are different
Target Status .bin .map Total Flash (base/head) Total Flash Δ Static RAM (base/head) Static RAM Δ
LekaOS ✔️ ✅ ✅ 472084 (22%) ø 91912 (17%) ø
bootloader ✔️ ✅ ✅ 182476 (8%) ø 41624 (7%) ø
functional_ut_boost_ut ✔️ ✅ ✅ 409212 (19%) ø 30608 (5%) ø
functional_ut_core_imu ✔️ ✅ ✅ 389196 (18%) ø 30584 (5%) ø
functional_ut_deep_sleep_core_buffered_serial ✔️ ✅ ✅ 368140 (17%) ø 30560 (5%) ø
functional_ut_deep_sleep_core_motor ✔️ ✅ ✅ 376076 (17%) ø 30632 (5%) ø
functional_ut_deep_sleep_core_pwm ✔️ ✅ ✅ 378292 (18%) ø 30632 (5%) ø
functional_ut_deep_sleep_log_kit ✔️ ✅ ✅ 365204 (17%) ø 30976 (5%) ø
functional_ut_deep_sleep_mbed_hal ✔️ ✅ ✅ 366648 (17%) ø 30560 (5%) ø
functional_ut_file_manager ✔️ ✅ ✅ 386420 (18%) ø 30856 (5%) ø
functional_ut_imu_kit ✔️ ✅ ✅ 391388 (18%) ø 30576 (5%) ø
functional_ut_io_expander ✔️ ✅ ✅ 370896 (17%) ø 30576 (5%) ø
functional_ut_qdac ✔️ ✅ ✅ 372064 (17%) ø 30576 (5%) ø
spike_lk_accel_gyro ✔️ ✅ ✅ 94048 (4%) ø 22568 (4%) ø
spike_lk_audio ✔️ ✅ ✅ 135196 (6%) ø 25144 (4%) ø
spike_lk_behavior_kit ✔️ ✅ ✅ 198764 (9%) ø 58720 (11%) ø
spike_lk_ble ✔️ ✅ ✅ 237196 (11%) ø 39264 (7%) ø
spike_lk_bluetooth ✔️ ✅ ✅ 92364 (4%) ø 22224 (4%) ø
spike_lk_cg_animations ✔️ ✅ ✅ 153608 (7%) ø 57224 (10%) ø
spike_lk_color_kit ✔️ ✅ ✅ 88480 (4%) ø 24376 (4%) ø
spike_lk_command_kit ✔️ ✅ ✅ 203372 (9%) ø 62056 (11%) ø
spike_lk_config_kit ✔️ ✅ ✅ 138932 (6%) ø 25136 (4%) ø
spike_lk_coreled ✔️ ✅ ✅ 88044 (4%) ø 24264 (4%) ø
spike_lk_core_touch_sensor ✔️ ✅ ✅ 92884 (4%) ø 22832 (4%) ø
spike_lk_event_queue ✔️ ✅ ✅ 84152 (4%) ø 22904 (4%) ø
spike_lk_file_manager_kit ✔️ ✅ ✅ 154048 (7%) ø 25496 (4%) ø
spike_lk_file_reception ✔️ ✅ ✅ 331308 (15%) ø 38232 (7%) ø
spike_lk_flash_memory ✔️ ✅ ✅ 86776 (4%) ø 22216 (4%) ø
spike_lk_fs ✔️ ✅ ✅ 174168 (8%) ø 47992 (9%) ø
spike_lk_imu_kit ✔️ ✅ ✅ 97920 (4%) ø 22896 (4%) ø
spike_lk_lcd ✔️ ✅ ✅ 172332 (8%) ø 57464 (10%) ø
spike_lk_led_kit ✔️ ✅ ✅ 115772 (5%) ø 25184 (4%) ø
spike_lk_log_kit ✔️ ✅ ✅ 84776 (4%) ø 23408 (4%) ø
spike_lk_motion_kit ✨ - - 105640 (5%) - 24720 (4%) -
spike_lk_motors ✔️ ✅ ✅ 86336 (4%) ø 22248 (4%) ø
spike_lk_qdac ✔️ ✅ ✅ 91572 (4%) ø 22776 (4%) ø
spike_lk_reinforcer ✔️ ✅ ✅ 112316 (5%) ø 25184 (4%) ø
spike_lk_rfid ✔️ ✅ ✅ 84088 (4%) ø 22184 (4%) ø
spike_lk_sensors_battery ✔️ ✅ ✅ 87184 (4%) ø 23280 (4%) ø
spike_lk_sensors_light ✔️ ✅ ✅ 84072 (4%) ø 22216 (4%) ø
spike_lk_sensors_microphone ✔️ ✅ ✅ 84824 (4%) ø 22216 (4%) ø
spike_lk_sensors_temperature_humidity ✔️ ✅ ✅ 90400 (4%) ø 22192 (4%) ø
spike_lk_sensors_touch ✔️ ✅ ✅ 91672 (4%) ø 22456 (4%) ø
spike_lk_serial_number ✔️ ✅ ✅ 136316 (6%) ø 25056 (4%) ø
spike_lk_ticker_timeout ✔️ ✅ ✅ 82712 (3%) ø 22232 (4%) ø
spike_lk_update_process_app_base ✔️ ✅ ✅ 154980 (7%) ø 26256 (5%) ø
spike_lk_update_process_app_update ✔️ ✅ ✅ 100456 (4%) ø 23240 (4%) ø
spike_lk_watchdog_isr ✔️ ✅ ✅ 87392 (4%) ø 24120 (4%) ø
spike_lk_wifi ✔️ ✅ ✅ 130832 (6%) ø 25528 (4%) ø
spike_mbed_blinky ✔️ ✅ ✅ 57616 (2%) ø 11496 (2%) ø
spike_mbed_watchdog_ticker_vs_thread ✔️ ✅ ✅ 84176 (4%) ø 23080 (4%) ø
spike_stl_cxxsupport ✔️ ✅ ✅ 83488 (3%) ø 22304 (4%) ø

🗺️ Map files diff output

Click to show diff list
spike_lk_motion_kit (click to expand) 


Flash used: 105640&nbsp;(5%) / total: 2097152
SRAM used: 24720&nbsp;(4%) / total: 524288

@HPezz HPezz changed the base branch from develop to hugo/feature/Add-IMUKit November 28, 2022 10:42
@HPezz HPezz force-pushed the hugo/feature/Add-MotionKit branch 3 times, most recently from 7f16bd0 to 3b22561 Compare November 28, 2022 14:24
@HPezz HPezz force-pushed the hugo/feature/Add-IMUKit branch 13 times, most recently from 720d56a to ab0ce00 Compare December 1, 2022 15:39
Base automatically changed from hugo/feature/Add-IMUKit to develop December 1, 2022 15:52
@HPezz HPezz marked this pull request as draft December 2, 2022 09:56
@HPezz HPezz force-pushed the hugo/feature/Add-MotionKit branch 2 times, most recently from 85eea17 to c190ca9 Compare December 5, 2022 09:18
@ladislas ladislas force-pushed the hugo/fix/Move-resume-in-CoreMotor branch from f95f2e3 to 078f198 Compare December 5, 2022 09:33
Base automatically changed from hugo/fix/Move-resume-in-CoreMotor to develop December 5, 2022 09:33
@HPezz HPezz marked this pull request as draft December 6, 2022 11:59
@HPezz HPezz marked this pull request as ready for review December 6, 2022 15:45
@HPezz HPezz force-pushed the hugo/feature/Add-MotionKit branch 2 times, most recently from b5ca22d to aa366b8 Compare December 7, 2022 09:23
YannLocatelli
YannLocatelli reviewed Dec 7, 2022
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Some suggestions~

spikes/lk_motion_kit/main.cpp Outdated Show resolved Hide resolved
libs/MotionKit/tests/PID_test.cpp Outdated Show resolved Hide resolved
libs/MotionKit/tests/MotionKit_test.cpp Outdated Show resolved Hide resolved
libs/MotionKit/include/PID.h Outdated Show resolved Hide resolved
libs/MotionKit/source/MotionKit.cpp Outdated Show resolved Hide resolved
libs/MotionKit/include/MotionKit.h Outdated Show resolved Hide resolved
libs/MotionKit/source/MotionKit.cpp Outdated Show resolved Hide resolved
ladislas
ladislas requested changes Dec 7, 2022
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Good work! 👍 I've made some comments, suggestions, requests ;)

libs/MotionKit/include/MotionKit.h Outdated Show resolved Hide resolved
libs/MotionKit/include/PID.h Outdated Show resolved Hide resolved
libs/MotionKit/include/MotionKit.h Outdated Show resolved Hide resolved
libs/MotionKit/include/MotionKit.h Outdated Show resolved Hide resolved
libs/MotionKit/include/MotionKit.h Outdated Show resolved Hide resolved
libs/MotionKit/source/MotionKit.cpp Outdated Show resolved Hide resolved
libs/MotionKit/source/MotionKit.cpp Outdated Show resolved Hide resolved
spikes/lk_motion_kit/main.cpp Outdated Show resolved Hide resolved
spikes/lk_motion_kit/main.cpp Outdated Show resolved Hide resolved
spikes/lk_motion_kit/main.cpp Outdated Show resolved Hide resolved
ladislas
ladislas requested changes Dec 8, 2022
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great work for me! a few suggestions/requests and we're good to go :)

libs/MotionKit/include/PID.h Outdated Show resolved Hide resolved
libs/MotionKit/include/MotionKit.h Outdated Show resolved Hide resolved
libs/MotionKit/source/MotionKit.cpp Outdated Show resolved Hide resolved
libs/MotionKit/source/MotionKit.cpp Outdated Show resolved Hide resolved
libs/MotionKit/include/MotionKit.h Outdated Show resolved Hide resolved
libs/MotionKit/include/MotionKit.h Outdated Show resolved Hide resolved
libs/MotionKit/source/MotionKit.cpp Outdated Show resolved Hide resolved
libs/MotionKit/source/MotionKit.cpp Outdated Show resolved Hide resolved
spikes/lk_motion_kit/main.cpp Outdated Show resolved Hide resolved
ladislas
ladislas requested changes Dec 8, 2022
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le der des ders! 😂

libs/MotionKit/include/MotionKit.h Outdated Show resolved Hide resolved
spikes/lk_motion_kit/main.cpp Outdated Show resolved Hide resolved
spikes/lk_motion_kit/main.cpp Outdated Show resolved Hide resolved
@HPezz HPezz force-pushed the hugo/feature/Add-MotionKit branch 2 times, most recently from 2312909 to 7f8a751 Compare December 8, 2022 11:44
YannLocatelli
YannLocatelli reviewed Dec 8, 2022
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spikes/lk_motion_kit/main.cpp Outdated Show resolved Hide resolved
libs/MotionKit/source/PID.cpp Outdated Show resolved Hide resolved
libs/MotionKit/tests/MotionKit_test.cpp Outdated Show resolved Hide resolved
@HPezz
✨ (MotionKit): Add MotionKit lib
0150d5e 
Lib using IMUKit angle computation to get angle control on reinforcer, responsive movement, etc...
@HPezz
✨ (spike): Add lk_motion_kit
fc28e5c
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sonarcloud bot commented Dec 8, 2022

Kudos, SonarCloud Quality Gate passed!    Quality Gate passed

Bug A 0 Bugs
Vulnerability A 0 Vulnerabilities
Security Hotspot A 0 Security Hotspots
Code Smell A 0 Code Smells

100.0% 100.0% Coverage
0.0% 0.0% Duplication

@ladislas ladislas merged commit c8b1a9b into develop Dec 8, 2022
@ladislas ladislas deleted the hugo/feature/Add-MotionKit branch December 8, 2022 13:46
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@ladislas ladislas ladislas approved these changes

@YannLocatelli YannLocatelli YannLocatelli approved these changes

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Story - Reinforcer Reinforcer - Use accelerometer and/or gyroscope for a perfect 1080° rotation
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@HPezz @ladislas @YannLocatelli