1. Added more intermediary tests

2. Added release and debug modes

CMakeLists.txt

@@ -4,7 +4,9 @@ project(bemf_observer LANGUAGES CXX)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Werror")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Werror -Wold-style-cast")
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -g")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -O3")
 
 include(CTest)
 enable_testing()
@@ -31,6 +33,14 @@ add_executable(bemf_observer_test tests/bemf_observer_test.cpp)
 target_link_libraries(bemf_observer_test ${PROJECT_NAME})
 add_test(NAME bemf_observer_test COMMAND "${CMAKE_SOURCE_DIR}/bin/bemf_observer_test")
 
+add_executable(dq_update_test tests/dq_update_test.cpp)
+target_link_libraries(dq_update_test ${PROJECT_NAME})
+add_test(NAME dq_update_test COMMAND "${CMAKE_SOURCE_DIR}/bin/dq_update_test")
+
+add_executable(tracker_test tests/tracker_test.cpp)
+target_link_libraries(tracker_test ${PROJECT_NAME})
+add_test(NAME tracker_test COMMAND "${CMAKE_SOURCE_DIR}/bin/tracker_test")
+
 # Include Header files
 include_directories(
     include

build.sh

@@ -8,7 +8,13 @@ PROJECT_DIR="$(cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd)"
 
 # Path to the build directory.
 BUILD_DIR=${PROJECT_DIR}/build
-BIN_DIR=${PROJECT_DIR}/bin
+if [ -d "$BUILD_DIR" ]; then
+    echo "Build directory exists."
+else
+    echo "Build directory does not exist."
+    echo "Creating build directory..."
+    mkdir -p ${BUILD_DIR}
+fi
 
 # Check if --clean flag is passed
 for arg in "$@"
@@ -20,28 +26,43 @@ do
             rm -rf ${BIN_DIR}
             exit 0
             ;;
+        --show-failed)
+            SHOW_FAILED=1
+            ;;
+        --debug)
+            DEBUG=1
+            ;;
+        --release)
+            RELEASE=1
+            ;;
     esac
 done
 
-# Path to the build directory.
-BUILD_DIR=${PROJECT_DIR}/build
-if [ -d "$BUILD_DIR" ]; then
-    echo "Build directory exists."
+# Configure and build the project.
+cd ${BUILD_DIR}
+if [ -z "$DEBUG" ]; then
+  cmake .. -DCMAKE_BUILD_TYPE=Debug ..
+  make -j4
+elif [ -z "$RELEASE" ]; then
+  cmake .. -DCMAKE_BUILD_TYPE=Release ..
+  make -j4
 else
-    echo "Build directory does not exist."
-    echo "Creating build directory..."
-    mkdir -p ${BUILD_DIR}
+  cmake ..
+  make -j4
 fi
-cd ${BUILD_DIR}
-
-# Configure and build the project.
-cmake ..
-make -j4
 
 # If make completes successfully, run ctest
 if [ $? -eq 0 ]; then
   cd ${BUILD_DIR}
-  ctest -C Release
+  if [ -z "$SHOW_FAILED" ]; then
+    ctest -C Debug --rerun-failed --output-on-failure
+  elif [ -z "$DEBUG" ]; then
+    ctest -C Debug --output-on-failure
+  elif [ -z "$RELEASE" ]; then
+    ctest -C Release
+  else
+    ctest
+  fi
 else
   echo -e "\nMake failed, so ctest will not be run."
 fi

src/observers/dq_update.cpp

@@ -3,14 +3,19 @@
 
 observers::DQUpdate::DQUpdate() : I_prev(0, 0), X_prev(0, 0), E(0, 0)
 {
+  d_axis = std::make_unique<controllers::PIController>();
+  q_axis = std::make_unique<controllers::PIController>();
 }
 
-observers::DQUpdate::DQUpdate(controllers::PIConfig config, BemfGains gains) : I_prev(0, 0), X_prev(0, 0), E(0, 0), config(config), gains(gains)
+observers::DQUpdate::DQUpdate(controllers::PIConfig config, BemfGains gains)
+  : I_prev(0, 0), X_prev(0, 0), E(0, 0), config(config), gains(gains)
 {
+  d_axis = std::make_unique<controllers::PIController>();
+  q_axis = std::make_unique<controllers::PIController>();
 }
 
 float observers::DQUpdate::loop(math::FrameAlphaBeta currents, math::FrameAlphaBeta voltages, float angular_velocity,
-                                  float rotor_angle, const SetBemfParams& set_params, const ExtBemfParams& ext_params)
+                                float rotor_angle, const SetBemfParams& set_params, const ExtBemfParams& ext_params)
 {
   math::FrameDQ I_est, error, X;
 
@@ -36,8 +41,8 @@ float observers::DQUpdate::loop(math::FrameAlphaBeta currents, math::FrameAlphaB
   if (set_params.error_q)
     error.q = ext_params.error_q;
 
-  E.d = q_axis.loop(error.d, config, set_params.error_sum_d, ext_params.error_sum_d);
-  E.q = d_axis.loop(error.q, config, set_params.error_sum_q, ext_params.error_sum_q);
+  E.d = q_axis->loop(error.d, config, set_params.error_sum_d, ext_params.error_sum_d);
+  E.q = d_axis->loop(error.q, config, set_params.error_sum_q, ext_params.error_sum_q);
 
   X_prev = X;
   I_prev = I_est;

src/observers/tracker.cpp

@@ -1,11 +1,10 @@
 #include <observers/tracker.hpp>
 
-float observers::Tracker::loop(float phase_error, const SetTrackerParams& set_params,
-                               const ExtTrackerParams& ext_params)
+float observers::Tracker::loop(float phase_error, const SetTrackerParams& set_params, const ExtTrackerParams& ext_params)
 {
   if (set_params.error)
     phase_error = ext_params.error;
-  angle_est += config.Ts * angle_controller.loop(phase_error, config, set_params.speed, ext_params.speed);
+  angle_est += config.Ts * angle_controller->loop(phase_error, config, set_params.speed, ext_params.speed);
   if (set_params.etheta)
     angle_est = ext_params.etheta;
   angle_est = math::wrapAngle(angle_est);
@@ -14,9 +13,11 @@ float observers::Tracker::loop(float phase_error, const SetTrackerParams& set_pa
 
 observers::Tracker::Tracker(controllers::PIConfig config) : config(config)
 {
+  angle_controller = std::make_unique<controllers::PIController>();
+  angle_integrator = std::make_unique<math::integrator>();
 }
 
 float observers::Tracker::speed_tracker(float angle_est, float Ts)
 {
-  return angle_integrator.loop(angle_est, Ts);
+  return angle_integrator->loop(angle_est, Ts);
 }