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Migrate encoder module to use google test - #638

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patkenneally merged 36 commits into
developfrom
feature/clean-encoder
Oct 1, 2026
Merged

Migrate encoder module to use google test#638
patkenneally merged 36 commits into
developfrom
feature/clean-encoder

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@patkenneally patkenneally commented Sep 28, 2026

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Description

This PR migrates most of the tests to C++ tests. The Python test now only checks that the generated module interface works.

While here, we've added many quality of life improvements and fixed many bugs

  • You now give the number of wheels and the clicks per rotation when you create the encoder.
  • Values that are not valid now cause an error.
  • Signal states use a new type, EncoderSignal (Nominal, Off, Stuck). You can set one wheel or all wheels at once.

Fixes

  • A wheel count that is too large no longer writes past the end of the arrays.
  • Off and stuck states now work on the first step.
  • Wheel angles now pass through on every step.
  • Reset keeps the signal states that you set.
  • Wheels that are no longer in use send zero.
  • A missing input message now stops the simulation with an error.

Verification

The tests are migrated to C++ and a number of property tests are added.

Documentation

The documentation is rewritten.

Future work

None

@patkenneally
Add C++ GoogleTest target for the encoder
d924996
@patkenneally
Add gtest for speed quantization over consecutive steps
eb18099
@patkenneally
Add gtest for the off signal zeroing the output
5e0620f
@patkenneally
Add gtest for the nominal signal after an off signal
56fad43
@patkenneally
Add gtest for the stuck signal holding the previous output
9e60fa5
@patkenneally
Rename the Python encoder test to snake_case and remove boilerplate
d962c27
@patkenneally
Reduce the Python encoder test to a smoke test of the bindings
e3722a5
@patkenneally
Remove the empty destructor and redundant return statements
443429b
@patkenneally
Mark the inherited virtual methods override
9012e03
@patkenneally
Use std::trunc and std::numbers::pi from the C++ headers
598a358
@patkenneally
Declare the encode local variables const at first use
fbb023c
@patkenneally
Add class member initializers
3e556d7
@patkenneally
Use the buffered input message for the zero time step output
b3dfdcc
@patkenneally
Correct the comment on the input message read
a95b5fa
@patkenneally
Add EncoderSignal enum class for the wheel signal states
984c63a
@patkenneally
Remove the unused signal state macros from simDefinitions.h
a2a9244
@patkenneally
Forward C++ exceptions from the encoder to Python
8a08a4a
@patkenneally
Throw from reset when the speed input message is not linked
7c25aac
@patkenneally
Replace the public encoder config members with validated setters
9fe9e31
@patkenneally
Reject a wheel count above RW_EFF_CNT
06a09b7
@patkenneally
Require the wheel count and clicks per rotation in the constructor
e1c38c8
@patkenneally
Replace the public signal state array with per-wheel accessors
1df44b2
@patkenneally
Add a signalStates attribute that sets all wheel signal states at once
66f2859
@patkenneally
Remove the per-step error for signal states the setters now reject
10d90fb
@patkenneally
Remove the unused encoder logger
6c0f50a
@patkenneally
Keep the configured signal states across reset
f19226f
@patkenneally
Pass the wheel thetas through the encoder on every step
589523a
@patkenneally
Apply the signal state on steps with a zero time step
278d9b4
@patkenneally
Set the output of unused wheels to zero when the wheel count changes
1aae2a8
@patkenneally
Add encoder fuzz target with an angle conservation property
61e08b8
@patkenneally patkenneally self-assigned this Sep 28, 2026
@patkenneally patkenneally linked an issue Sep 28, 2026 that may be closed by this pull request
MIgrate encoder module to google test #637
Closed
@patkenneally
patkenneally force-pushed the feature/clean-encoder branch 3 times, most recently from e9394d0 to 69995e5 Compare September 28, 2026 23:11
joaogvcarneiro
joaogvcarneiro reviewed Sep 29, 2026
View reviewed changes
Comment thread src/simulation/deviceInterface/encoder/encoder.cpp
@patkenneally
patkenneally merged commit 8faac39 into develop Oct 1, 2026
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@patkenneally
patkenneally deleted the feature/clean-encoder branch October 1, 2026 17:48
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Reviewers

@joaogvcarneiro joaogvcarneiro joaogvcarneiro approved these changes
@JulianHammerl JulianHammerl Awaiting requested review from JulianHammerl
@codyallard28 codyallard28 Awaiting requested review from codyallard28

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MIgrate encoder module to google test

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@patkenneally @joaogvcarneiro