Added some tests, fixed mistakes tests found

gem-remotes-esp32/analyze-binary.py

@@ -0,0 +1,131 @@
+#!/bin/env python3
+
+'''
+Quick and dirty script to analyze the contents of the binary.
+
+Shows total size of a crate's added code, count of the number of sections,
+and the name of the crate.  Names with non-rust names are lumped into 
+esp-idf, as that's most likely what they are in this project.
+
+Unfortunately, since much of the actual functionality is carried out by the
+esp-idf, including newly added functionality (such as bluetooth) often mostly 
+just grows the amount of esp-idf that is included.
+'''
+
+import subprocess
+import os.path
+import os.getcwd
+
+# Shorten names to crates instead of the whole function
+mangle_name = True
+
+program_name = os.path.split(os.getcwd())[1]
+print(program_name)
+targets = ("./target/xtensa-esp32-espidf/release/", "./target/xtensa-esp32-espidf/debug/")
+
+def find_file():
+    for t in targets:
+        if os.path.isfile(t + program_name):
+            #return t
+            analyze_file(t + program_name)
+
+def analyze_file(f):
+    results = subprocess.run(["nm", "-S", "--demangle=rust", "--size-sort", f], capture_output=True).stdout
+    lines = results.splitlines()
+    data = {}
+    for line in lines:
+        cols = line.split()
+        # Cols are: 0: position, 1: size, 2: ? 3: name
+        if len(cols) < 4:
+            pass # this shouldn't happen if we sort by size; but nm lists things without a size otherwise.
+        else:
+            raw_name = cols[3].decode("utf-8")
+            raw_size = cols[1]
+            if mangle_name:
+                if len(raw_name):
+                    while "<" == raw_name[0] or "&" == raw_name[0]:
+                        raw_name = raw_name[1:]
+                    parts = raw_name.split(':')
+                    if len(parts[0]) == len(raw_name):
+                        # Assume if it has no crate delimiters that it is part of esp-idf
+                        name = "esp-idf"
+                    else:
+                        name = parts[0]
+                else:
+                    name = "(blank)"
+            else:
+                name = raw_name
+            size = int(raw_size, 16)
+            if name in data:
+                (count, total) = data[name]
+                count += 1
+                total += size
+                data[name] = (count, total)
+            else:
+                data[name] = (1, size)
+    print("  total | ct | crate")
+    sorted_data = []
+    for item in data.items():
+        (name, (count, size)) = item
+        sorted_data.append((size, count, name))
+    sorted_data.sort(key=lambda tup: tup[0])
+    for i in sorted_data:
+        (size, count, name) = i
+        print(f'{size:8,}', f'{count:4}', name)
+    i = 0
+    for tup in data.values():
+        i += tup[1]
+    print("\n","Total size: ", f'{i:,}', "Actual binary size may differ due to included data and the chunks nm didn't identify")
+
+
+def main():
+    find_file()
+
+if __name__ == "__main__":
+    main()
+
+'''
+For comparison; the 'Hello, World' app generated by 'cargo generate esp-rs/esp-idf-template cargo'
+
+Hello, World (release) analysis
+total | ct | crate
+       9    1 panic_abort
+      11    1 esp_idf_sys
+      84    1 hello_world
+     223    1 memchr
+     315   12 log
+     654    2 adler
+     724    8 esp_idf_svc
+   2,757   24 object
+   8,104    6 miniz_oxide
+  15,044  181 alloc
+  15,765   42 rustc_demangle
+  19,581   37 addr2line
+  26,343  200 std
+  33,966  291 core
+  34,980  104 gimli
+ 159,412 1778 esp-idf
+
+ Total size:  317,972
+
+Hello, World (debug) analysis
+  total | ct | crate
+       9    1 panic_abort
+      11    1 esp_idf_sys
+      84    1 hello_world
+     267    2 memchr
+     356   13 log
+     817    8 esp_idf_svc
+   1,012    5 adler
+   3,571   45 object
+   9,796   13 miniz_oxide
+  13,331   45 rustc_demangle
+  20,043   45 addr2line
+  28,044  281 std
+  35,175  629 alloc
+  38,761  210 gimli
+  60,658  863 core
+ 186,909 2286 esp-idf
+
+ Total size:  398,844
+ '''

gem-remotes-esp32/src/motor_driver.rs

@@ -27,8 +27,12 @@ impl MotorDriverDebug {
 
     pub async fn run(&self) -> Result<()> {
         loop {
-            let cmd = self.recv_q.recv().await.expect("Unexpected failure in motor driver command queue");
-            self.handle_cmd(cmd).await.expect("Unexpected failure of motor driver notification queue");
+            let cmd = self.recv_q.recv()
+                .await
+                .expect("Unexpected failure in motor driver command queue");
+            self.handle_cmd(cmd)
+                .await
+                .expect("Unexpected failure of motor driver notification queue");
         }
     }
 
@@ -41,20 +45,26 @@ impl MotorDriverDebug {
         Ok(())
     }
 
-    pub async fn start_up(&self) -> Result<()> {
+    async fn start_up(&self) -> Result<()> {
         warn!("Starting motor, direction: Up");
         Ok(())
     }
-    pub async fn start_down(&self) -> Result<()> {
+    async fn start_down(&self) -> Result<()> {
         warn!("Starting motor, direction: Down");
         Ok(())
     }
-    pub async fn stop(&self) -> Result<()> {
+    async fn stop(&self) -> Result<()> {
         warn!("Stopping motor");
         Ok(())
     }
+    
 }
 
 
 //TODO: we should fix panic to ensure that we shut down motors before rebooting ESP!
-// Maybe by getting another endpoint and passing it to the panic handler?  Add a different command that doesn't just stop, but stops and stops processing any new commands.
+// Maybe by getting another endpoint and passing it to the panic handler?  Add a different 
+// command that doesn't just stop, but stops and stops processing any new commands.
+
+//TODO: Design - are there any implications to the PIC motor driver essentially sending button
+// presses instead of commanding the motor on/off?  Feedback loops?  No way to know without PIC 
+// code.