Merge branch 'develop' of https://github.com/OpenAstroTech/OpenAstroTracker-Firmware into develop

Author: ClutchplateDude

Changelog.md

@@ -1,3 +1,26 @@
+**V1.13.15 - Updates**
+- Check `INFO_DISPLAY_TYPE` builds in CI
+- Fix `INFO_DISPLAY_TYPE_I2C_SSD1306_128x64` for esp32 builds
+
+**V1.13.14 - Updates**
+- Improved Serial command handling (made it less 'blocking'), which should improve general performance
+- Guide pulses are ignored when tracking is disabled (for example, when at the limits)
+
+**V1.13.13 - Updates**
+- Improved Meade command documentation
+- Fixed a bug that was not correctly showing the stepper direction in the :GX# command reply./
+
+**V1.13.12 - Updates**
+- Parallelize matrix_build.py for faster CI builds
+- Added basic test mode that can be run via terminal connection.
+
+**V1.13.11 - Updates**
+- Fixed DEBUG macro usage.
+- Clarified some Meade documentation.
+
+**V1.13.10 - Updates**
+- Fixed dependency specification for git tags
+
 **V1.13.9 - Updates**
 - Added guide logging support.
 - Fixed some Meade documentation errors.
@@ -29,7 +52,6 @@ NOTE: Make sure to do a Factory Reset when using this version.
 - Lowered ESP32 second core priority
 - Added support for informational display
 - You must upgrade to OATControl V1.1.2.0 to use with this version (at least if you want to use teh DEC park/unpark feature)
-
 **V1.13.2 - Updates**
 - Fix for RA steps being incorrectly set on every boot.
 

README.md

@@ -57,3 +57,14 @@ When using `avr-stub` as a debug interface, it requires 2 things:
 Debugging is still a bit flakey, so you may need to try multiple times in order to get a solid debugging session.
 
 More information is available in the [avr-stub documentation](https://github.com/jdolinay/avr_debug/tree/master/doc)
+
+### Meade Command Documentation
+The Meade commands page on the Wiki is generated by running:
+```shell
+python .\scripts\MeadeCommandParser.py
+```
+from the main directory. The page is generated in the scripts folder and needs to be copy pasted into the Wiki manually. Please add the version manually (for now) by pasting something like this:
+```
+> This documentation is current as of Firmware **V1.13.9**
+{.is-warning}
+```

Version.h

@@ -3,4 +3,4 @@
 // Also, numbers are interpreted as simple numbers.                        _   __   _
 // So 1.8 is actually 1.08, meaning that 1.12 is a later version than 1.8.  \_(..)_/
 
-#define VERSION "V1.13.9"
+#define VERSION "V1.13.15"

matrix_build.py

@@ -4,21 +4,30 @@
 import os
 import shutil
 import signal
-import subprocess
 import click
+import sys
+from pathlib import Path
+from typing import List
 
 import tabulate
 from constraint import *
 
+from matrix_build_parallel import Executor, execute, get_available_executor_idx, get_finished_executor_idx, \
+    cleanup_tempdirs, create_executors, get_source_files_to_link, wait_for_executor_to_finish, copy_caches_to_executors
+
 CONTINUE_ON_ERROR = False
 
-BOARDS = [
+MKS_GENL_BOARDS = [
     "mksgenlv21",
     "mksgenlv2",
     "mksgenlv1",
-    "esp32",
+]
+AVR_BOARDS = MKS_GENL_BOARDS + [
     "ramps",
 ]
+BOARDS = AVR_BOARDS + [
+    "esp32",
+]
 
 STEPPER_TYPES = [
     "STEPPER_TYPE_NONE",
@@ -42,6 +51,11 @@
     "DISPLAY_TYPE_LCD_JOY_I2C_SSD1306",
 ]
 
+INFO_DISPLAY_TYPES = [
+    "INFO_DISPLAY_TYPE_NONE",
+    "INFO_DISPLAY_TYPE_I2C_SSD1306_128x64",
+]
+
 BUILD_FLAGS = {
     "CONFIG_VERSION": "1",
     "RA_STEPPER_TYPE": [x for x in STEPPER_TYPES if x != "STEPPER_TYPE_NONE"],
@@ -57,6 +71,8 @@
     "FOCUS_STEPPER_TYPE": STEPPER_TYPES,
     "FOCUS_DRIVER_TYPE": DRIVER_TYPES,
     "DISPLAY_TYPE": DISPLAY_TYPES,
+    "INFO_DISPLAY_TYPE": INFO_DISPLAY_TYPES,
+    "TEST_VERIFY_MODE": BOOLEAN_VALUES,
     "DEBUG_LEVEL": ["DEBUG_NONE", "DEBUG_ANY"],
     "RA_MOTOR_CURRENT_RATING": "1",
     "RA_OPERATING_CURRENT_SETTING": "1",
@@ -230,6 +246,25 @@ def driver_supports_stepper(d, s):
     problem.addConstraint(driver_supports_stepper, ["AZ_DRIVER_TYPE", "AZ_STEPPER_TYPE"])
     problem.addConstraint(driver_supports_stepper, ["FOCUS_DRIVER_TYPE", "FOCUS_STEPPER_TYPE"])
 
+    # AVR boards can't have both DISPLAY_TYPE and INFO_DISPLAY_TYPE enabled
+    def avr_display_exclusivity(board, display, info_display):
+        if board not in AVR_BOARDS:
+            return True
+        return (
+                display == "DISPLAY_TYPE_NONE" or
+                info_display == "INFO_DISPLAY_TYPE_NONE"
+        )
+    problem.addConstraint(avr_display_exclusivity, ["BOARD", "DISPLAY_TYPE", "INFO_DISPLAY_TYPE"])
+
+    # MKS GenL boards must not have a focus stepper when info display is enabled
+    def mksgenl_focus_exclusivity(board, info_display, focus_stepper):
+        if board not in MKS_GENL_BOARDS:
+            return True
+        if info_display != "INFO_DISPLAY_TYPE_NONE":
+            return focus_stepper == "STEPPER_TYPE_NONE"
+        return True
+    problem.addConstraint(mksgenl_focus_exclusivity, ["BOARD", "INFO_DISPLAY_TYPE", "FOCUS_STEPPER_TYPE"])
+
 
 # Define constraints for excluded tests
 def set_test_constraints(problem):
@@ -261,6 +296,14 @@ def set_ci_constraints(problem):
     problem.addConstraint(InSetConstraint({"DISPLAY_TYPE_NONE", "DISPLAY_TYPE_LCD_KEYPAD"}), ["DISPLAY_TYPE"])
     # problem.addConstraint(InSetConstraint({"DRIVER_TYPE_ULN2003"}), ["ALT_DRIVER_TYPE"])
 
+    # Restrict INFO_DISPLAY_TYPE_I2C_SSD1306_128x64 to mksgenlv21 and esp32 only
+    # (just to reduce compile times)
+    def info_display_constraint(board, info_display):
+        if info_display == "INFO_DISPLAY_TYPE_I2C_SSD1306_128x64":
+            return board in ["mksgenlv21", "esp32"]
+        return True
+    problem.addConstraint(info_display_constraint, ["BOARD", "INFO_DISPLAY_TYPE"])
+
 
 def print_solutions_matrix(solutions, short_strings=False):
     def get_value(vb, vk):
@@ -279,43 +322,28 @@ def get_value(vb, vk):
     print(tabulate.tabulate(rows, tablefmt="grid", showindex=map(shorten, keys), colalign=("right",)))
 
 
-def generate_config_file(flag_values):
-    content = "#pragma once\n\n"
-    for key, value in flag_values.items():
-        content += "#define {} {}\n".format(key, value)
-
-    with open("Configuration_local_matrix.hpp", 'w') as f:
-        f.write(content)
-        print("Generated local config")
-        print("Path: {}".format(os.path.abspath(f.name)))
-        print("Content:")
-        print(content)
-
-
-def create_run_environment(flag_values):
-    build_env = dict(os.environ)
-    build_flags = " ".join(["-D{}={}".format(key, value) for key, value in flag_values.items()])
-    build_env["PLATFORMIO_BUILD_FLAGS"] = build_flags
-    return build_env
+def print_failed_executor(executor: Executor):
+    print(f'Error for the following configuration ({executor.proj_dir}):', file=sys.stderr)
+    print_solutions_matrix([executor.solution])
+    configuration_path = Path(executor.proj_dir, 'Configuration_local_matrix.hpp')
+    print(f'{configuration_path}:')
+    with open(configuration_path, 'r') as fp:
+        print(fp.read())
+    out_bytes, err_bytes = executor.proc.communicate()
+    if out_bytes:
+        print(out_bytes.decode())
+    if err_bytes:
+        print(err_bytes.decode(), file=sys.stderr)
 
 
-def execute(board, flag_values, use_config_file=True):
-    if use_config_file:
-        build_env = dict(os.environ)
-        build_env["PLATFORMIO_BUILD_FLAGS"] = "-DMATRIX_LOCAL_CONFIG=1"
-        generate_config_file(flag_values)
-    else:
-        build_env = create_run_environment(flag_values)
-
-    proc = subprocess.Popen(
-        "pio run -e {}".format(board),
-        # stdout=subprocess.PIPE,
-        # stderr=subprocess.PIPE,
-        shell=True,
-        env=build_env,
-    )
-    (stdout, stderr) = proc.communicate()
-    return stdout, stdout, proc.returncode
+def run_solution_blocking(executor: Executor, solution: dict) -> int:
+    executor.solution = copy.deepcopy(solution)
+    board = solution.pop("BOARD")
+    executor.proc = execute(executor.proj_dir, board, solution, jobs=os.cpu_count(), out_pipe=False)
+    executor.proc.wait()
+    if executor.proc.returncode != 0:
+        print_failed_executor(executor)
+    return executor.proc.returncode
 
 
 class GracefulKiller:
@@ -353,17 +381,60 @@ def solve(board):
     solutions = problem.getSolutions()
     print_solutions_matrix(solutions, short_strings=False)
 
-    print("Testing {} combinations".format(len(solutions)))
-
-    for num, solution in enumerate(solutions, start=1):
-        print("[{}/{}] Building ...".format(num, len(solutions)), flush=True)
-        print_solutions_matrix([solution])
-
-        board = solution.pop("BOARD")
-        (o, e, c) = execute(board, solution)
-        if c and not CONTINUE_ON_ERROR:
-            exit(c)
-        print(flush=True)
+    total_solutions = len(solutions)
+    print(f'Testing {total_solutions} combinations')
+
+    nproc = min(os.cpu_count(), len(solutions))
+
+    local_paths_to_link = get_source_files_to_link()
+    executor_list: List[Executor] = create_executors(nproc, local_paths_to_link)
+
+    print('First run to fill cache')
+    solution = solutions.pop()
+    retcode = run_solution_blocking(executor_list[0], solution)
+    if retcode != 0 and not CONTINUE_ON_ERROR:
+        exit(retcode)
+
+    copy_caches_to_executors(executor_list[0].proj_dir, executor_list[1:])
+
+    solutions_built = 2  # We've already built one solution, and we're 1-indexing
+    exit_early = False  # Exit trigger
+    while solutions:
+        # First fill any open execution slots
+        while get_available_executor_idx(executor_list) is not None:
+            available_executor_idx = get_available_executor_idx(executor_list)
+            executor = executor_list[available_executor_idx]
+            try:
+                solution = solutions.pop()
+            except IndexError:
+                # No more solutions to try!
+                break
+            print(f'[{solutions_built}/{total_solutions}] Building ...')
+            executor.solution = copy.deepcopy(solution)
+            board = solution.pop("BOARD")
+            executor.proc = execute(executor.proj_dir, board, solution)
+            solutions_built += 1
+
+        # Next wait for any processes to finish
+        wait_for_executor_to_finish(executor_list)
+
+        # Go through all the finished processes and check their status
+        while get_finished_executor_idx(executor_list) is not None:
+            finished_executor_idx = get_finished_executor_idx(executor_list)
+            executor = executor_list[finished_executor_idx]
+            if executor.proc.returncode != 0:
+                print_failed_executor(executor)
+                if not CONTINUE_ON_ERROR:
+                    exit_early = True
+            del executor.proc
+            executor.proc = None
+
+        if exit_early:
+            break
+    if exit_early:
+        exit(1)
+    print('Done!')
+    cleanup_tempdirs(executor_list)
 
 
 if __name__ == '__main__':