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Migrate encoder module to use google test - #638

Merged

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

Commits on Sep 28, 2026
- Add C++ GoogleTest target for the encoder
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- Add gtest for speed quantization over consecutive steps
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- Add gtest for the off signal zeroing the output
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- Add gtest for the nominal signal after an off signal
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- Add gtest for the stuck signal holding the previous output
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- Rename the Python encoder test to snake_case and remove boilerplate
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- Reduce the Python encoder test to a smoke test of the bindings
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- Remove the empty destructor and redundant return statements
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- Mark the inherited virtual methods override
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- Use std::trunc and std::numbers::pi from the C++ headers
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- Declare the encode local variables const at first use
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- Add class member initializers
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- Use the buffered input message for the zero time step output
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- Correct the comment on the input message read
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- Add EncoderSignal enum class for the wheel signal states
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- Remove the unused signal state macros from simDefinitions.h
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- Forward C++ exceptions from the encoder to Python
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- Throw from reset when the speed input message is not linked
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- Replace the public encoder config members with validated setters
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- Reject a wheel count above RW_EFF_CNT
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- Require the wheel count and clicks per rotation in the constructor
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- Replace the public signal state array with per-wheel accessors
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- Add a signalStates attribute that sets all wheel signal states at once
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- Remove the per-step error for signal states the setters now reject
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- Remove the unused encoder logger
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- Keep the configured signal states across reset
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- Pass the wheel thetas through the encoder on every step
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- Apply the signal state on steps with a zero time step
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- Set the output of unused wheels to zero when the wheel count changes
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- Add encoder fuzz target with an angle conservation property
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- Add fuzz property for the signal state effects
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- Add fuzz property that wheels beyond numRW stay zero
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- Add Doxygen comments to the encoder public API
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  a808568
- Simplify the language of the encoder comments and docs
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  daf6cc8
- Correct the truncation wording in the encoder documentation
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  656357b
- Document the encoder constructor, setters, signal states and errors
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  69995e5

Commits

Commits on Sep 28, 2026