PID Controller - Acme Robotics

Author names for Part 1

Driver: Prasheel Renkuntla

Navigator: Suyash Yeotikar

Author names for Part 2

Driver: Rohan Singh

Navigator: Kamakshi Jain

Overview

Test Driven development for the PID Controller designed for Acme Robotics.

TODO

Create skeleton for the code implementation.
Unit Tests for the member functions of the class.
Implementation of the Code.
Run Unit tests.
Submit Pull Request once Build is Passing.
Accept Pull Request

Minutes of Meeting

Post design review discussion, Coveralls build was 97%.
Added test conditions in order to achieve 100% code coverage on Coveralls.

Standard install via command-line

git clone --recursive https://github.com/prasheel24/TDD-G9-PID
cd <path to repository>
mkdir build
cd build
cmake ..
make
Run tests: ./test/cpp-test
Run program: ./app/shell-app

Building for code coverage

sudo apt-get install lcov
cmake -D COVERAGE=ON -D CMAKE_BUILD_TYPE=Debug ../
make
make code_coverage

This generates a index.html page in the build/coverage sub-directory that can be viewed locally in a web browser.

Working with Eclipse IDE

Installation

In your Eclipse workspace directory (or create a new one), checkout the repo (and submodules)

mkdir -p ~/workspace
cd ~/workspace
git clone --recursive https://github.com/prasheel24/TDD-G9-PID

In your work directory, use cmake to create an Eclipse project for an [out-of-source build] of TDD-G9-PID

cd ~/workspace
mkdir -p boilerplate-eclipse
cd boilerplate-eclipse
cmake -G "Eclipse CDT4 - Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug -D CMAKE_ECLIPSE_VERSION=4.7.0 -D CMAKE_CXX_COMPILER_ARG1=-std=c++14 ../TDD-G9-PID/

Import

Open Eclipse, go to File -> Import -> General -> Existing Projects into Workspace -> Select "boilerplate-eclipse" directory created previously as root directory -> Finish

Edit

Source files may be edited under the "[Source Directory]" label in the Project Explorer.

Build

To build the project, in Eclipse, unfold boilerplate-eclipse project in Project Explorer, unfold Build Targets, double click on "all" to build all projects.

Run

In Eclipse, right click on the boilerplate-eclipse in Project Explorer, select Run As -> Local C/C++ Application
Choose the binaries to run (e.g. shell-app, cpp-test for unit testing)

Debug

Set breakpoint in source file (i.e. double click in the left margin on the line you want the program to break).
In Eclipse, right click on the boilerplate-eclipse in Project Explorer, select Debug As -> Local C/C++ Application, choose the binaries to run (e.g. shell-app).
If prompt to "Confirm Perspective Switch", select yes.
Program will break at the breakpoint you set.
Press Step Into (F5), Step Over (F6), Step Return (F7) to step/debug your program.
Right click on the variable in editor to add watch expression to watch the variable in debugger window.
Press Terminate icon to terminate debugging and press C/C++ icon to switch back to C/C++ perspetive view (or Windows->Perspective->Open Perspective->C/C++).

Plugins

CppChEclipse

To install and run cppcheck in Eclipse
1. In Eclipse, go to Window -> Preferences -> C/C++ -> cppcheclipse. Set cppcheck binary path to "/usr/bin/cppcheck".
2. To run CPPCheck on a project, right click on the project name in the Project Explorer and choose cppcheck -> Run cppcheck.
Google C++ Sytle

To include and use Google C++ Style formatter in Eclipse
1. In Eclipse, go to Window -> Preferences -> C/C++ -> Code Style -> Formatter. Import eclipse-cpp-google-style and apply.
2. To use Google C++ style formatter, right click on the source code or folder in Project Explorer and choose Source -> Format

Git

It is possible to manage version control through Eclipse and the git plugin, but it typically requires creating another project. If you're interested in this, try it out yourself and contact me on Canvas.

Prasheel24 / TDD-G9-PID