Fix - ServoRemove Unit Test

Author: brentru

src/Wippersnapper_V2.cpp

@@ -337,148 +337,127 @@ bool cbDecodeBrokerToDevice(pb_istream_t *stream, const pb_field_t *field,
     WS_DEBUG_PRINTLN("-> Checkin Response Message Type");
     WS_DEBUG_PRINT("Handling Checkin Response...");
     if (!handleCheckinResponse(stream)) {
-      WS_DEBUG_PRINTLN("Failure handling Checkin Response!");
       return false;
     }
     WS_DEBUG_PRINTLN("Handled!");
     break;
   case wippersnapper_signal_BrokerToDevice_digitalio_add_tag:
     WS_DEBUG_PRINTLN("-> DigitalIO Add Message Type");
     if (!WsV2.digital_io_controller->Handle_DigitalIO_Add(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to add digitalio pin!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_digitalio_remove_tag:
     WS_DEBUG_PRINTLN("-> DigitalIO Remove Message Type");
     if (!WsV2.digital_io_controller->Handle_DigitalIO_Remove(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to remove digitalio pin!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_digitalio_write_tag:
     WS_DEBUG_PRINTLN("-> DigitalIO Write Message Type");
     if (!WsV2.digital_io_controller->Handle_DigitalIO_Write(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to write to digitalio pin!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_analogio_add_tag:
     WS_DEBUG_PRINTLN("-> AnalogIO Add Message Type");
     if (!WsV2.analogio_controller->Handle_AnalogIOAdd(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to add analogio pin!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_analogio_remove_tag:
     WS_DEBUG_PRINTLN("-> AnalogIO Remove Message Type");
     if (!WsV2.analogio_controller->Handle_AnalogIORemove(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to remove analogio pin!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_ds18x20_add_tag:
     WS_DEBUG_PRINTLN("-> DS18X20 Add Message Type");
     if (!WsV2._ds18x20_controller->Handle_Ds18x20Add(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to add DS18X20 sensor!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_ds18x20_remove_tag:
     WS_DEBUG_PRINTLN("-> DS18X20 Remove Message Type");
     if (!WsV2._ds18x20_controller->Handle_Ds18x20Remove(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to remove DS18X20 sensor!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_i2c_device_add_replace_tag:
     WS_DEBUG_PRINTLN("-> I2C Device Add/Replace Message Type");
     if (!WsV2._i2c_controller->Handle_I2cDeviceAddOrReplace(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to add/replace I2C device!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_i2c_bus_scan_tag:
     WS_DEBUG_PRINTLN("-> I2C Bus Scan Message Type");
     if (!WsV2._i2c_controller->Handle_I2cBusScan(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to add/replace I2C device!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_i2c_device_remove_tag:
     WS_DEBUG_PRINTLN("-> I2C Device Remove Message Type");
     if (!WsV2._i2c_controller->Handle_I2cDeviceRemove(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to remove I2C device!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_pixels_add_tag:
     WS_DEBUG_PRINTLN("-> Pixels Add Message Type");
     if (!WsV2._pixels_controller->Handle_Pixels_Add(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to add pixels strand!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_pixels_remove_tag:
     WS_DEBUG_PRINTLN("-> Pixels Remove Message Type");
     if (!WsV2._pixels_controller->Handle_Pixels_Remove(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to remove pixels strand!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_pixels_write_tag:
     WS_DEBUG_PRINTLN("-> Pixels Write Message Type");
     if (!WsV2._pixels_controller->Handle_Pixels_Write(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to write to pixels strand!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_pwm_add_tag:
     WS_DEBUG_PRINTLN("-> PWM Add Message Type");
     if (!WsV2._pwm_controller->Handle_PWM_Add(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to add PWM pin!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_pwm_write_duty_tag:
     WS_DEBUG_PRINTLN("-> PWM Write Duty Cycle Message Type");
     if (!WsV2._pwm_controller->Handle_PWM_Write_DutyCycle(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to write duty cycle to PWM pin!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_pwm_write_freq_tag:
     WS_DEBUG_PRINTLN("-> PWM Write Frequency Message Type");
     if (!WsV2._pwm_controller->Handle_PWM_Write_Frequency(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to write frequency to PWM pin!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_pwm_remove_tag:
     WS_DEBUG_PRINTLN("-> PWM Remove Message Type");
     if (!WsV2._pwm_controller->Handle_PWM_Remove(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to remove PWM pin!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_servo_add_tag:
     WS_DEBUG_PRINTLN("-> Servo Add Message Type");
     if (!WsV2._servo_controller->Handle_Servo_Add(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to add servo!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_servo_write_tag:
     WS_DEBUG_PRINTLN("-> Servo Write Message Type");
     if (!WsV2._servo_controller->Handle_Servo_Write(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to write to servo!");
       return false;
     }
     break;
   case wippersnapper_signal_BrokerToDevice_servo_remove_tag:
     WS_DEBUG_PRINTLN("-> Servo Remove Message Type");
     if (!WsV2._servo_controller->Handle_Servo_Remove(stream)) {
-      WS_DEBUG_PRINTLN("ERROR: Unable to remove servo!");
       return false;
     }
     break;
@@ -1063,7 +1042,8 @@ bool Wippersnapper_V2::PublishSignal(pb_size_t which_payload, void *payload) {
     break;
   case wippersnapper_signal_DeviceToBroker_servo_added_tag:
     WS_DEBUG_PRINTLN("ServoAdded");
-    MsgSignal.which_payload = wippersnapper_signal_DeviceToBroker_servo_added_tag;
+    MsgSignal.which_payload =
+        wippersnapper_signal_DeviceToBroker_servo_added_tag;
     MsgSignal.payload.servo_added = *(wippersnapper_servo_ServoAdded *)payload;
     break;
   default:

src/components/pwm/controller.cpp

@@ -151,8 +151,6 @@ bool PWMController::Handle_PWM_Write_DutyCycle(pb_istream_t *stream) {
   wippersnapper_pwm_PWMWriteDutyCycle msg_write_duty_cycle =
       *_pwm_model->GetPWMWriteDutyCycleMsg();
   uint8_t pin = atoi(msg_write_duty_cycle.pin + 1);
-
-  // Check if the pin is already attached
   int pin_idx = GetPWMHardwareIdx(pin);
   if (pin_idx == -1) {
     WS_DEBUG_PRINTLN("[pwm] Error: pin not found!");
@@ -188,7 +186,6 @@ bool PWMController::Handle_PWM_Write_Frequency(pb_istream_t *stream) {
   wippersnapper_pwm_PWMWriteFrequency msg_write_frequency =
       *_pwm_model->GetPWMWriteFrequencyMsg();
   uint8_t pin = atoi(msg_write_frequency.pin + 1);
-  // Check if the pin is already attached
   int pin_idx = GetPWMHardwareIdx(pin);
   if (pin_idx == -1) {
     WS_DEBUG_PRINTLN("[pwm] Error: pin not found!");

src/components/pwm/model.cpp

@@ -15,35 +15,33 @@
 #include "model.h"
 
 /**************************************************************************/
-/*! 
+/*!
     @brief  Ctor for PWMModel.
 */
 /**************************************************************************/
 PWMModel::PWMModel() {
-    memset(&_msg_pwm_add, 0, sizeof(_msg_pwm_add));
-    memset(&_msg_pwm_added, 0, sizeof(_msg_pwm_added));
-    memset(&_msg_pwm_remove, 0, sizeof(_msg_pwm_remove));
-    memset(&_msg_pwm_write_duty_cycle, 0, sizeof(_msg_pwm_write_duty_cycle));
-    memset(&_msg_pwm_write_duty_cycle_multi, 0, sizeof(_msg_pwm_write_duty_cycle_multi));
-    memset(&_msg_pwm_write_frequency, 0, sizeof(_msg_pwm_write_frequency));
+  memset(&_msg_pwm_add, 0, sizeof(_msg_pwm_add));
+  memset(&_msg_pwm_added, 0, sizeof(_msg_pwm_added));
+  memset(&_msg_pwm_remove, 0, sizeof(_msg_pwm_remove));
+  memset(&_msg_pwm_write_duty_cycle, 0, sizeof(_msg_pwm_write_duty_cycle));
+  memset(&_msg_pwm_write_frequency, 0, sizeof(_msg_pwm_write_frequency));
 }
 
 /**************************************************************************/
-/*! 
+/*!
     @brief  Dtor for PWMModel.
 */
 /**************************************************************************/
 PWMModel::~PWMModel() {
-    memset(&_msg_pwm_add, 0, sizeof(_msg_pwm_add));
-    memset(&_msg_pwm_added, 0, sizeof(_msg_pwm_added));
-    memset(&_msg_pwm_remove, 0, sizeof(_msg_pwm_remove));
-    memset(&_msg_pwm_write_duty_cycle, 0, sizeof(_msg_pwm_write_duty_cycle));
-    memset(&_msg_pwm_write_duty_cycle_multi, 0, sizeof(_msg_pwm_write_duty_cycle_multi));
-    memset(&_msg_pwm_write_frequency, 0, sizeof(_msg_pwm_write_frequency));
+  memset(&_msg_pwm_add, 0, sizeof(_msg_pwm_add));
+  memset(&_msg_pwm_added, 0, sizeof(_msg_pwm_added));
+  memset(&_msg_pwm_remove, 0, sizeof(_msg_pwm_remove));
+  memset(&_msg_pwm_write_duty_cycle, 0, sizeof(_msg_pwm_write_duty_cycle));
+  memset(&_msg_pwm_write_frequency, 0, sizeof(_msg_pwm_write_frequency));
 }
 
 /**************************************************************************/
-/*! 
+/*!
     @brief  Decodes a PWMAdd message from an input stream.
     @param  stream  The stream to decode from.
     @return true if successful, false otherwise.
@@ -55,20 +53,20 @@ bool PWMModel::DecodePWMAdd(pb_istream_t *stream) {
 }
 
 /**************************************************************************/
-/*! 
+/*!
     @brief  Returns a pointer to the PWMAdd message.
     @return Pointer to the PWMAdd message.
 */
 /**************************************************************************/
-wippersnapper_pwm_PWMAdd *PWMModel::GetPWMAddMsg() {
-  return &_msg_pwm_add;
-}
+wippersnapper_pwm_PWMAdd *PWMModel::GetPWMAddMsg() { return &_msg_pwm_add; }
 
 /**************************************************************************/
-/*! 
-    @brief  Encodes a PWMAdded message with the given pin name and attach status.
+/*!
+    @brief  Encodes a PWMAdded message with the given pin name and attach
+   status.
     @param  pin_name  The name of the pin.
-    @param  did_attach  True if the pin was successfully attached, false otherwise.
+    @param  did_attach  True if the pin was successfully attached, false
+   otherwise.
     @return true if successful, false otherwise.
 */
 /**************************************************************************/
@@ -84,11 +82,12 @@ bool PWMModel::EncodePWMAdded(char *pin_name, bool did_attach) {
     return false;
   uint8_t buf[sz_msg];
   pb_ostream_t msg_stream = pb_ostream_from_buffer(buf, sizeof(buf));
-  return pb_encode(&msg_stream, wippersnapper_pwm_PWMAdded_fields, &_msg_pwm_added);
+  return pb_encode(&msg_stream, wippersnapper_pwm_PWMAdded_fields,
+                   &_msg_pwm_added);
 }
 
 /**************************************************************************/
-/*! 
+/*!
     @brief  Returns a pointer to the PWMAdded message.
     @return Pointer to the PWMAdded message.
 */
@@ -98,19 +97,20 @@ wippersnapper_pwm_PWMAdded *PWMModel::GetPWMAddedMsg() {
 }
 
 /**************************************************************************/
-/*! 
+/*!
     @brief  Decodes a PWMRemove message from an input stream.
     @param  stream  The stream to decode from.
     @return true if successful, false otherwise.
 */
 /**************************************************************************/
 bool PWMModel::DecodePWMRemove(pb_istream_t *stream) {
   memset(&_msg_pwm_remove, 0, sizeof(_msg_pwm_remove));
-  return pb_decode(stream, wippersnapper_pwm_PWMRemove_fields, &_msg_pwm_remove);
+  return pb_decode(stream, wippersnapper_pwm_PWMRemove_fields,
+                   &_msg_pwm_remove);
 }
 
 /**************************************************************************/
-/*! 
+/*!
     @brief  Returns a pointer to the PWMRemove message.
     @return Pointer to the PWMRemove message.
 */
@@ -120,19 +120,20 @@ wippersnapper_pwm_PWMRemove *PWMModel::GetPWMRemoveMsg() {
 }
 
 /**************************************************************************/
-/*! 
+/*!
     @brief  Decodes a PWMWriteDutyCycle message from an input stream.
     @param  stream  The stream to decode from.
     @return true if successful, false otherwise.
 */
 /**************************************************************************/
 bool PWMModel::DecodePWMWriteDutyCycle(pb_istream_t *stream) {
   memset(&_msg_pwm_write_duty_cycle, 0, sizeof(_msg_pwm_write_duty_cycle));
-  return pb_decode(stream, wippersnapper_pwm_PWMWriteDutyCycle_fields, &_msg_pwm_write_duty_cycle);
+  return pb_decode(stream, wippersnapper_pwm_PWMWriteDutyCycle_fields,
+                   &_msg_pwm_write_duty_cycle);
 }
 
 /**************************************************************************/
-/*! 
+/*!
     @brief  Returns a pointer to the PWMWriteDutyCycle message.
     @return Pointer to the PWMWriteDutyCycle message.
 */
@@ -142,19 +143,20 @@ wippersnapper_pwm_PWMWriteDutyCycle *PWMModel::GetPWMWriteDutyCycleMsg() {
 }
 
 /**************************************************************************/
-/*! 
+/*!
     @brief  Decodes a PWMWriteFrequency message from an input stream.
     @param  stream  The stream to decode from.
     @return true if successful, false otherwise.
 */
 /**************************************************************************/
 bool PWMModel::DecodePWMWriteFrequency(pb_istream_t *stream) {
   memset(&_msg_pwm_write_frequency, 0, sizeof(_msg_pwm_write_frequency));
-  return pb_decode(stream, wippersnapper_pwm_PWMWriteFrequency_fields, &_msg_pwm_write_frequency);
+  return pb_decode(stream, wippersnapper_pwm_PWMWriteFrequency_fields,
+                   &_msg_pwm_write_frequency);
 }
 
 /**************************************************************************/
-/*! 
+/*!
     @brief  Returns a pointer to the PWMWriteFrequency message.
     @return Pointer to the PWMWriteFrequency message.
 */

src/components/servo/controller.cpp

@@ -163,7 +163,7 @@ bool ServoController::Handle_Servo_Remove(pb_istream_t *stream) {
   _active_servo_pins--;
 
   WS_DEBUG_PRINT("[servo] Servo removed from pin: ");
-  WS_DEBUG_PRINT(msg_remove->servo_pin);
+  WS_DEBUG_PRINTLN(msg_remove->servo_pin);
   return true;
 }
 

src/components/servo/hardware.cpp

@@ -50,9 +50,6 @@ ServoHardware::ServoHardware(int pin, int min_pulse_width, int max_pulse_width,
 ServoHardware::~ServoHardware() {
   if (!ServoDetach()) {
     WS_DEBUG_PRINTLN("[servo] Error: Failed to detach servo!");
-  } else {
-    WS_DEBUG_PRINT("[servo] Servo detached from pin: ");
-    WS_DEBUG_PRINTLN(_pin);
   }
 }
 
@@ -65,11 +62,11 @@ ServoHardware::~ServoHardware() {
 /**************************************************************************/
 bool ServoHardware::ServoDetach() {
 #ifdef ARDUINO_ARCH_ESP32
-  detach();
-  if (attached()) {
-    WS_DEBUG_PRINTLN("[servo]Error: Servo detach failure!");
+  if (!attached()) {
+    WS_DEBUG_PRINTLN("[servo] Detach Error: Servo not attached!");
     return false;
   }
+  detach();
 #else
   if (_servo == nullptr || !_servo->attached()) {
     WS_DEBUG_PRINTLN("[servo] Detach Error: Servo not attached!");
@@ -96,6 +93,7 @@ bool ServoHardware::ServoAttach() {
   if (!ledcAttach(_pin, _frequency, LEDC_TIMER_WIDTH)) {
     rc = 255;
   } else {
+    WS_DEBUG_PRINTLN("[servo:hw:L99] Servo attached to pin");
     rc = 1;
     _is_attached = true;
   }

src/components/servo/hardware.h

@@ -43,11 +43,11 @@ class ServoHardware {
                 int frequency);
   ~ServoHardware();
   bool ServoAttach();
-  bool ServoDetach();
   void ServoWrite(int value);
   uint8_t GetPin();
 
 private:
+  bool ServoDetach();
 #ifdef ARDUINO_ARCH_ESP32
   // Mocks Servo library API for ESP32x's LEDC manager
   // https://github.com/arduino-libraries/Servo/blob/master/src/Servo.h