progress towards ETB controller mocking

firmware/console/binary/tunerstudio.cpp

@@ -257,8 +257,6 @@ static void onlineApplyWorkingCopyBytes(int currentPageId, uint32_t offset, int
 	}
 }
 
-extern EtbController etbController[ETB_COUNT];
-
 static const void * getStructAddr(int structId) {
 	switch (structId) {
 	case LDS_CLT_STATE_INDEX:
@@ -275,7 +273,7 @@ static const void * getStructAddr(int structId) {
 		return static_cast<trigger_state_s*>(&engine->triggerCentral.triggerState);
 #if EFI_ELECTRONIC_THROTTLE_BODY
 	case LDS_ETB_PID_STATE_INDEX:
-		return etbController[0].getPidState();
+		return static_cast<EtbController*>(engine->etbControllers[0])->getPidState();
 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */
 
 #ifndef EFI_IDLE_CONTROL

firmware/controllers/actuators/electronic_throttle.cpp

@@ -355,7 +355,8 @@ DISPLAY(DISPLAY_IF(hasEtbPedalPositionSensor))
 }
 
 static EtbHardware etbHardware[ETB_COUNT];
-EtbController etbController[ETB_COUNT];
+// real implementation (we mock for some unit tests)
+EtbController etbControllers[ETB_COUNT];
 
 static void showEthInfo(void) {
 #if EFI_PROD_CODE
@@ -389,7 +390,7 @@ static void showEthInfo(void) {
 
 		scheduleMsg(&logger, "ETB %%d", i);
 		scheduleMsg(&logger, "Motor: dir=%d DC=%f", etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
-		etbController[i].showStatus(&logger);
+		etbControllers[i].showStatus(&logger);
 	}
 
 #endif /* EFI_PROD_CODE */
@@ -397,7 +398,7 @@ static void showEthInfo(void) {
 
 static void etbPidReset(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	for (int i = 0 ; i < engine->etbActualCount; i++) {
-		etbController[i].reset();
+		engine->etbControllers[i]->reset();
 	}
 }
 
@@ -576,7 +577,7 @@ void stopETBPins(void) {
 
 void onConfigurationChangeElectronicThrottleCallback(engine_configuration_s *previousConfiguration) {
 	for (int i = 0; i < ETB_COUNT; i++) {
-		etbController[i].onConfigurationChange(&previousConfiguration->etb);
+		etbControllers[i].onConfigurationChange(&previousConfiguration->etb);
 	}
 }
 
@@ -655,10 +656,18 @@ void setDefaultEtbBiasCurve(DECLARE_CONFIG_PARAMETER_SIGNATURE) {
 }
 
 void unregisterEtbPins() {
-
+	// todo: we probably need an implementation here?!
 }
 
 void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+	for (int i = 0; i < ETB_COUNT; i++) {
+		engine->etbControllers[i] = &etbControllers[i];
+	}
+	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
+}
+
+void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+	efiAssertVoid(OBD_PCM_Processor_Fault, engine->etbControllers != NULL, "etbControllers NULL");
 #if EFI_PROD_CODE
 	addConsoleAction("ethinfo", showEthInfo);
 	addConsoleAction("etbreset", etbReset);
@@ -666,8 +675,8 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 #endif /* EFI_PROD_CODE */
 
 	for (int i = 0 ; i < ETB_COUNT; i++) {
-		etbController[i].init(&etbHardware[i].dcMotor, i, &engineConfiguration->etb);
+		engine->etbControllers[i]->init(&etbHardware[i].dcMotor, i, &engineConfiguration->etb);
-		INJECT_ENGINE_REFERENCE(&etbController[i]);
+		INJECT_ENGINE_REFERENCE(engine->etbControllers[i]);
 	}
 
 
@@ -742,9 +751,10 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	etbPidReset(PASS_ENGINE_PARAMETER_SIGNATURE);
 
 	for (int i = 0 ; i < engine->etbActualCount; i++) {
-		etbController[i].Start();
+		engine->etbControllers[i]->Start();
 	}
 }
 
+
 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */
 

firmware/controllers/actuators/electronic_throttle.h

@@ -17,15 +17,21 @@
 class DcMotor;
 class Logging;
 
-class EtbController final : public PeriodicTimerController {
+class IEtbController : public PeriodicTimerController{
 public:
 	DECLARE_ENGINE_PTR;
-	void init(DcMotor *motor, int ownIndex, pid_s *pidParameters);
+	virtual void init(DcMotor *motor, int ownIndex, pid_s *pidParameters) = 0;
-	void reset();
+	virtual void reset() = 0;
+};
+
+class EtbController final : public IEtbController {
+public:
+	void init(DcMotor *motor, int ownIndex, pid_s *pidParameters) override;
 
 	// PeriodicTimerController implementation
 	int getPeriodMs() override;
 	void PeriodicTask() override;
+	void reset() override;
 
 	// Called when the configuration may have changed.  Controller will
 	// reset if necessary.
@@ -45,6 +51,8 @@ private:
 };
 
 void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
+void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE);
+
 void setDefaultEtbBiasCurve(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void setDefaultEtbParameters(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void setBoschVNH2SP30Curve(DECLARE_CONFIG_PARAMETER_SIGNATURE);

firmware/controllers/algo/engine.h

@@ -47,11 +47,15 @@ class RpmCalculator;
 
 #define CYCLE_ALTERNATION 2
 
+class IEtbController;
+
 class Engine : public TriggerStateListener {
 public:
 	explicit Engine(persistent_config_s *config);
 	Engine();
 
+	IEtbController *etbControllers[ETB_COUNT];
+
 	void OnTriggerStateDecodingError() override;
 	void OnTriggerStateProperState(efitick_t nowNt) override;
 

firmware/controllers/system/periodic_task.h

@@ -35,7 +35,7 @@ public:
 	/**
 	 * This invokes PeriodicTask() immediately and starts the cycle of invocations and sleeps
 	 */
-    void Start() {
+    virtual void Start() {
     	runAndScheduleNext(this);
     }
 };

unit_tests/tests/test_idle_controller.cpp

@@ -129,23 +129,22 @@ TEST(idle, timingPid) {
 }
 
 // not great that we are reusing shared instance. todo: move EtbController to Engine?
-extern EtbController etbController;
 
 TEST(idle, testTargetTpsIsFloatBug945) {
 
 	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
 
 	setMockThrottlePedalSensorVoltage(3 PASS_ENGINE_PARAMETER_SUFFIX);
-	etbController.PeriodicTask();
+	engine->etbControllers[0]->PeriodicTask();
 	ASSERT_NEAR(50, engine->engineState.targetFromTable, EPS4D);
 
 	setMockThrottlePedalSensorVoltage(3.05 PASS_ENGINE_PARAMETER_SUFFIX);
 	ASSERT_NEAR(50.8302, getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE), EPS4D);
-	etbController.PeriodicTask();
+	engine->etbControllers[0]->PeriodicTask();
 	ASSERT_NEAR(50.8302, engine->engineState.targetFromTable, EPS4D);
 
 	setMockThrottlePedalSensorVoltage(3.1 PASS_ENGINE_PARAMETER_SUFFIX);
-	etbController.PeriodicTask();
+	engine->etbControllers[0]->PeriodicTask();
 	ASSERT_NEAR(51.6605, engine->engineState.targetFromTable, EPS4D);
 
 }