Add test for oneshot block.

Optimize oneshot block and bridge_pwm block:
	-minimize amount of branches by removing sequence points.
	-Use local variables for structure fields to minimize dereferences.

controller/block/block_bridge_pwm.c

@@ -64,24 +64,16 @@ static void calculate(struct controller_block *bridge)
 	float value;
 	float in = *priv->in;
 	int divider = priv->divider;
+	float remainder = priv->remainder;
 	
-	if (in > 0.0) {
-		a = true;
-		b = false;
-	} else if (in < 0.0) {
-		a = false;
-		b = true;
-	} else {
-		a = false;
-		b = false;
-	}
+	a = in > 0.0;
+	b = in < 0.0;
 
 	cnt = cnt % divider;
 	cnt++;
 	priv->cnt = cnt;
 	
-	value = (fminf(fabsf(in), 1.0) * divider) + priv->remainder;
-//	printf("+ %d %f %f %f\n", cnt, in, value, priv->remainder);
+	value = (fminf(fabsf(in), 1.0) * divider) + remainder;
 	if (cnt > value) {
 		float diff;
 		
@@ -90,15 +82,10 @@ static void calculate(struct controller_block *bridge)
 		diff = (float)cnt - value;
 		
 		if (priv->pwm_prev) {
-			priv->remainder = 1.0 - diff;
+			remainder = 1.0 - diff;
 		}
-//		printf("- %d %f %f %f\n", cnt, value, (float)cnt, priv->remainder);
 	} else {
-		if (!priv->continuous && cnt == divider-1) {
-			pwm = false;
-		} else {
-			pwm = true;
-		}
+		pwm = priv->continuous || cnt != divider-1;
 	}
 	
 	priv->pwm_prev = pwm;

controller/block/block_oneshot.c

@@ -72,35 +72,35 @@ struct controller_block_private {
 #define OUTPUT(name)		(priv->name)
 #define INPUT(name)		(*priv->name)
 
-#define DEBUG
+#undef DEBUG
 
 
 static void calculate(struct controller_block *block)
 {
 	struct controller_block_private *priv;
-	bool last_out;
-
 	priv = block->private;
-	last_out = OUTPUT(out);
+	bool out;
+	bool set = INPUT(set);
+	bool reset = INPUT(reset);
+	uint32_t period = priv->period;
+	uint32_t ticks_left = priv->ticks_left;
 	
-	if (INPUT(reset) == true) {
-		OUTPUT(out) = false;
-		return;
-	}
-	if (INPUT(set) == true) {
-		OUTPUT(out) = true;
-		priv->ticks_left = priv->period;
-	} else {
-		if ((priv->ticks_left) && (--priv->ticks_left == 0)) {
-			OUTPUT(out) = false;
-		}
-	}
+	/* set counter to period if set true */
+	ticks_left += (period - ticks_left) * set;
+	/* reset counter if reset true */
+	ticks_left -= ticks_left * reset;
+	/* if counter not zero output is true */
+	out = ticks_left;
+	/* decrement, but not below zero */
+	ticks_left -= ticks_left != 0;
 
 #ifdef DEBUG
-	if (OUTPUT(out) != last_out)
+	if (OUTPUT(out) != out)
 		log_send(LOG_T_DEBUG, "%s: turned %s", block->name,
-		OUTPUT(out) ? "on" : "off");
+		out ? "on" : "off");
 #endif
+	priv->ticks_left = ticks_left;
+	OUTPUT(out) = out;
 }
 
 static struct controller_block_interm_list interms[] = {

controller/block/block_oneshot.test.ctrl

+
+trigger {
+	{ "immediate" }
+}
+
+blocks (100.0, 0.0) {
+	{ "oneshot", "oneshot" }
+	
+	{ "test_input_bool",  "set"  }
+	{ "test_input_bool",  "reset"  }
+	{ "test_output_bool", "out" }
+}
+
+links {
+	{ "set", "value",   "oneshot", "set",   true }
+	{ "reset", "value", "oneshot", "reset", true }
+	{ "oneshot", "out", "out", "value",     true }
+}
+
+params {
+	{ "oneshot", "period", 0.04 }
+	{ "oneshot", "force",  true }
+
+	{ "set",  "value", 20, (int) { 
+			false, false, false, false, false,
+			true,  false, false, false, false,
+			true,  false, false, true,  true,
+			true,  false, false, false, false
+		}
+	}
+	{ "reset",  "value", 20, (int) { 
+			false, true,  false, false, false,
+			false, false, false, false, false,
+			false, false, true,  true,  false,
+			false, false, false, false, false
+		}
+	}
+	{ "out", "value", 20, (int) { 
+			true,  false, false, false, false,
+			true,  true,  true,  true,  false,
+			true,  true,  false, false, true,
+			true,  true,  true,  true,  false
+		}
+	}
+}

controller/block/build.mk

@@ -93,6 +93,7 @@ CTRL_TESTS += \
 	$(DIR)/block_limit_var.test.ctrl \
 	$(DIR)/block_matrix_2x2.test.ctrl \
 	$(DIR)/block_not.test.ctrl \
+	$(DIR)/block_oneshot.test.ctrl \
 	$(DIR)/block_pid_aw.test.ctrl \
 	$(DIR)/block_rangecheck.test.ctrl \
 	$(DIR)/block_setpoint_generator_1d.test.ctrl \