diff --git a/visca_controller/.gitignore b/visca_controller/.gitignore new file mode 100644 index 0000000..3fe18ad --- /dev/null +++ b/visca_controller/.gitignore @@ -0,0 +1,3 @@ +.pio +CMakeListsPrivate.txt +cmake-build-*/ diff --git a/visca_controller/CMakeLists.txt b/visca_controller/CMakeLists.txt new file mode 100644 index 0000000..da99e9c --- /dev/null +++ b/visca_controller/CMakeLists.txt @@ -0,0 +1,33 @@ +# !!! WARNING !!! AUTO-GENERATED FILE, PLEASE DO NOT MODIFY IT AND USE +# https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags +# +# If you need to override existing CMake configuration or add extra, +# please create `CMakeListsUser.txt` in the root of project. +# The `CMakeListsUser.txt` will not be overwritten by PlatformIO. + +cmake_minimum_required(VERSION 3.13) +set(CMAKE_SYSTEM_NAME Generic) +set(CMAKE_C_COMPILER_WORKS 1) +set(CMAKE_CXX_COMPILER_WORKS 1) + +project("visca_controller" C CXX) + +include(CMakeListsPrivate.txt) + +if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/CMakeListsUser.txt) +include(CMakeListsUser.txt) +endif() + +add_custom_target( + Production ALL + COMMAND platformio -c clion run "$<$>:-e${CMAKE_BUILD_TYPE}>" + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} +) + +add_custom_target( + Debug ALL + COMMAND platformio -c clion run --target debug "$<$>:-e${CMAKE_BUILD_TYPE}>" + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} +) + +add_executable(Z_DUMMY_TARGET ${SRC_LIST}) diff --git a/visca_controller/include/README b/visca_controller/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/visca_controller/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/visca_controller/lib/README b/visca_controller/lib/README new file mode 100644 index 0000000..6debab1 --- /dev/null +++ b/visca_controller/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in a an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/visca_controller/platformio.ini b/visca_controller/platformio.ini new file mode 100644 index 0000000..f015c4a --- /dev/null +++ b/visca_controller/platformio.ini @@ -0,0 +1,15 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:uno] +platform = atmelavr +board = uno +framework = arduino +monitor_speed = 115200 diff --git a/visca_controller/src/visca_controller.cpp b/visca_controller/src/visca_controller.cpp index 7f4ce9a..4545b36 100644 --- a/visca_controller/src/visca_controller.cpp +++ b/visca_controller/src/visca_controller.cpp @@ -1,276 +1,308 @@ #include "visca_controller.h" //LiquidCrystal_I2C lcd(0x27,20,4); -SoftwareSerial visca(VISCARX, VISCATX); +SoftwareSerial viscaOutput(VISCARX, VISCATX); void setup() { - Serial.begin(115200); - while (!Serial) { - ; // wait for serial port to connect. Needed for native USB port only - } - - for (uint8_t i = 4; i <= 12; i++) { - pinMode(i,INPUT); - } - visca.begin(9600); - - initCameras(); - - Serial.println("Started"); + Serial.begin(115200); + while (!Serial) { + ; // wait for serial port to connect. Needed for native USB port only + } + + for (uint8_t i = 4; i <= 12; i++) { + pinMode(i,INPUT); + } + viscaOutput.begin(9600); + + initCameras(); + + Serial.println("Started"); } void loop() { - handleSerialControl(); - receiveViscaData(); - handleHardwareControl(); + handleSerialControl(); + receiveViscaData(); + handleHardwareControl(); } unsigned long time_now = 0; bool panIdle = true; bool tiltIdle = true; -int ptLow = 441; -int ptHight = 581; +bool zoomIdle = true; +int analogLowThreshold = 441; +int analogHighThreshold = 581; int ptMaxSpeed = 5; void handleHardwareControl() { - processPan(analogRead(PAN)); + processPan(analogRead(PAN)); + + processTilt(analogRead(TILT)); - processTilt(analogRead(TILT)); - - processButtons(); + processZoom(analogRead(ZOOM)); + + processButtons(); } void receiveViscaData() { - static byte ndx = 0; - byte rc; - while (visca.available() > 0) { - rc = visca.read(); - - if (rc != 0xFF) { - viscaMessage[ndx] = rc; - ndx++; - if (ndx >= numChars) { - ndx = numChars - 1; - } - } - else { - for (uint8_t i = 0; i < ndx; i++) { - Serial.print("0x"); - Serial.print(viscaMessage[i], HEX); - Serial.print(" "); - } - Serial.println("0xFF"); - ndx = 0; - byte packet[3] = { 0x10, 0x41, 0xFF }; - visca.write(packet, 3); + static byte ndx = 0; + byte rc; + while (viscaOutput.available() > 0) { + rc = viscaOutput.read(); + + if (rc != 0xFF) { + viscaMessage[ndx] = rc; + ndx++; + if (ndx >= maxViscaMessageSize) { + ndx = maxViscaMessageSize - 1; + } + } + else { + if(DEBUG_VISCA == 1) { + for (uint8_t i = 0; i < ndx; i++) { + Serial.print("0x"); + Serial.print(viscaMessage[i], HEX); + Serial.print(" "); + } + Serial.println("0xFF"); + } + ndx = 0; + byte packet[3] = { 0x10, 0x41, 0xFF }; + viscaOutput.write(packet, 3); + } } - } } void handleSerialControl() { - if (Serial.available() > 0) - { - char inChar = Serial.read(); // read incoming serial data: - - switch(inChar) { - -// General/Toggles - case '1': - initCameras(); - break; - case '2': - toggleFocusControl(); - break; - case '8': - sendViscaPacket(callLedOn, sizeof(callLedOn)); - break; - case '9': - sendViscaPacket(callLedBlink, sizeof(callLedBlink)); - break; - case '0': - sendViscaPacket(callLedOff, sizeof(callLedOff)); - break; + if (Serial.available() > 0) + { + char inChar = Serial.read(); // read incoming serial data: + + switch(inChar) { + case '1': + initCameras(); + break; + case '2': + toggleFocusControl(); + break; + case '8': + sendViscaPacket(callLedOn, sizeof(callLedOn)); + break; + case '9': + sendViscaPacket(callLedBlink, sizeof(callLedBlink)); + break; + case '0': + sendViscaPacket(callLedOff, sizeof(callLedOff)); + break; + } } - } } void processButtons() { - int globalSpeed = analogRead(ZOOM); - int zoomSpeed = map(globalSpeed, 0, 1023, 0, 15); - if(millis() > time_now + 100) { - time_now = millis(); - - collectCurrentButtonStatus(); - - int btn1 = buttons[0]; - if(buttonPressed(btn1) == true) { - setButtonStatus(btn1, true); - sendZoomPacket(0x20, zoomSpeed); - } else if(buttonReleased(btn1) == true) { - setButtonStatus(btn1, false); - sendViscaPacket(zoomStop, sizeof(zoomStop)); - } - - int btn2 = buttons[1]; - if(buttonPressed(btn2) == true) { - setButtonStatus(btn2, true); - sendZoomPacket(0x30, zoomSpeed); - } else if(buttonReleased(btn2) == true) { - setButtonStatus(btn2, false); - sendViscaPacket(zoomStop, sizeof(zoomStop)); - } - - int btn5 = buttons[4]; - if(buttonPressed(btn5) == true) { - setButtonStatus(btn5, true); - initCameras(); - } else if(buttonReleased(btn5) == true) { - setButtonStatus(btn5, false); + int globalSpeed = analogRead(AUX1); + int buttonZoomSpeed = map(globalSpeed, 0, 1023, 0, 15); + if(millis() > time_now + 100) { + time_now = millis(); + + collectCurrentButtonStatus(); + + int btn1 = buttons[0]; + if(buttonPressed(btn1) == true) { + setButtonStatus(btn1, true); + sendZoomPacket(0x20, buttonZoomSpeed); + } else if(buttonReleased(btn1) == true) { + setButtonStatus(btn1, false); + sendViscaPacket(zoomStop, sizeof(zoomStop)); + } + + int btn2 = buttons[1]; + if(buttonPressed(btn2) == true) { + setButtonStatus(btn2, true); + sendZoomPacket(0x30, buttonZoomSpeed); + } else if(buttonReleased(btn2) == true) { + setButtonStatus(btn2, false); + sendViscaPacket(zoomStop, sizeof(zoomStop)); + } + + int btn5 = buttons[4]; + if(buttonPressed(btn5) == true) { + setButtonStatus(btn5, true); + initCameras(); + } else if(buttonReleased(btn5) == true) { + setButtonStatus(btn5, false); + } } - } } void collectCurrentButtonStatus() { - for (int i = 0; i < sizeof(buttons) / sizeof (buttons [0]); i++) { - bitWrite(buttonCurrentStatus, buttons[i], (int) digitalRead(buttons[i])); - } + for (int i = 0; i < (int) (sizeof(buttons) / sizeof (buttons [0])); i++) { + bitWrite(buttonCurrentStatus, buttons[i], (int) digitalRead(buttons[i])); + } } bool buttonPressed(uint8_t button) { - return getCurrentButtonStatus(button) == true && getPreviousButtonStatus(button) == false; + return getCurrentButtonStatus(button) == true && getPreviousButtonStatus(button) == false; } bool buttonReleased(uint8_t button) { - return getCurrentButtonStatus(button) == false && getPreviousButtonStatus(button) == true; + return getCurrentButtonStatus(button) == false && getPreviousButtonStatus(button) == true; } bool getCurrentButtonStatus(uint8_t button) { - return (bool) bitRead(buttonCurrentStatus, button); + return (bool) bitRead(buttonCurrentStatus, button); } void sendZoomPacket(byte zoomDir, int zoomSpeed) { - uint8_t zoomDirSpeed = (uint8_t) zoomDir + zoomSpeed; - zoom[4] = zoomDirSpeed; - sendViscaPacket(zoom, sizeof(zoom)); + uint8_t zoomDirSpeed = (uint8_t) zoomDir + zoomSpeed; + zoomCommand[4] = zoomDirSpeed; + sendViscaPacket(zoomCommand, sizeof(zoomCommand)); } bool getPreviousButtonStatus(uint8_t input) { - return (bool) bitRead(buttonPreviousStatus, input); + return (bool) bitRead(buttonPreviousStatus, input); } void setButtonStatus(uint8_t input, bool status) { - bitWrite(buttonPreviousStatus, input, (int) status); + bitWrite(buttonPreviousStatus, input, (int) status); } -void processPan(int pan) { - if(pan < ptLow || ptHight < pan) { - uint8_t panSpeed; - if(pan < ptLow) { - // Left - panSpeed = map(pan, ptLow, 0, 0, ptMaxSpeed); - panTilt[6] = 0x01; +void processZoom(int zoom) { + int zoomMaxSpeed = 15; + if(zoom < analogLowThreshold || analogHighThreshold < zoom) { + uint8_t zoomSpeed; + byte zoomDir; + if(zoom < analogLowThreshold) { + // Zoom Out + zoomSpeed = map(zoom, analogLowThreshold, 0, 0, zoomMaxSpeed); + zoomDir = 0x30; + } else { + // Zoom In + zoomSpeed = map(zoom, analogHighThreshold, 1018, 0, zoomMaxSpeed); + zoomDir = 0x20; + } + + uint8_t zoomDirSpeed = (uint8_t) zoomDir + zoomSpeed; + if(zoomCommand[4] != zoomDirSpeed) { + zoomCommand[4] = zoomDirSpeed; + sendViscaPacket(zoomCommand, sizeof(zoomCommand)); + } + zoomIdle = false; } else { - panSpeed = map(pan, ptHight, 1018, 0, ptMaxSpeed); - // Right - panTilt[6] = 0x02; + // Stop Zoom + if(zoomIdle == false) { + sendViscaPacket(zoomStop, sizeof(zoomStop)); + zoomIdle = true; + } } +} - if(panTilt[4] != panSpeed) { - panTilt[4] = panSpeed; - sendViscaPacket(panTilt, sizeof(panTilt), true); - } - panIdle = false; - } else { - // Stop Pan - panTilt[4] = 0x00; - panTilt[6] = 0x03; - if(panIdle == false) { - sendViscaPacket(panTilt, sizeof(panTilt), true); - panIdle = true; +void processPan(int pan) { + if(pan < analogLowThreshold || analogHighThreshold < pan) { + uint8_t panSpeed; + if(pan < analogLowThreshold) { + // Left + panSpeed = map(pan, analogLowThreshold, 0, 0, ptMaxSpeed); + panTilt[6] = 0x01; + } else { + panSpeed = map(pan, analogHighThreshold, 1018, 0, ptMaxSpeed); + // Right + panTilt[6] = 0x02; + } + + if(panTilt[4] != panSpeed) { + panTilt[4] = panSpeed; + sendViscaPacket(panTilt, sizeof(panTilt)); + } + panIdle = false; + } else { + // Stop Pan + panTilt[4] = 0x00; + panTilt[6] = 0x03; + if(panIdle == false) { + sendViscaPacket(panTilt, sizeof(panTilt)); + panIdle = true; + } } - } } void processTilt(int tilt) { - if(tilt < ptLow || ptHight < tilt) { - uint8_t tiltSpeed; - if(tilt < ptLow) { - // Down - tiltSpeed = map(tilt, ptLow, 0, 0, ptMaxSpeed); - panTilt[7] = 0x02; + if(tilt < analogLowThreshold || analogHighThreshold < tilt) { + uint8_t tiltSpeed; + if(tilt < analogLowThreshold) { + // Down + tiltSpeed = map(tilt, analogLowThreshold, 0, 0, ptMaxSpeed); + panTilt[7] = 0x02; + } else { + // Up + tiltSpeed = map(tilt, analogHighThreshold, 1018, 0, ptMaxSpeed); + panTilt[7] = 0x01; + } + + if(panTilt[5] != tiltSpeed) { + panTilt[5] = tiltSpeed; + sendViscaPacket(panTilt, sizeof(panTilt)); + } + tiltIdle = false; } else { - // Up - tiltSpeed = map(tilt, ptHight, 1018, 0, ptMaxSpeed); - panTilt[7] = 0x01; + // Stop Tilt + panTilt[5] = 0x00; + panTilt[7] = 0x03; + if(tiltIdle == false) { + sendViscaPacket(panTilt, sizeof(panTilt)); + tiltIdle = true; + } } - - if(panTilt[5] != tiltSpeed) { - panTilt[5] = tiltSpeed; - sendViscaPacket(panTilt, sizeof(panTilt), true); - } - tiltIdle = false; - } else { - // Stop Tilt - panTilt[5] = 0x00; - panTilt[7] = 0x03; - if(tiltIdle == false) { - sendViscaPacket(panTilt, sizeof(panTilt), true); - tiltIdle = true; - } - } } void toggleFocusControl() { - sendViscaPacket(focusModeInq, sizeof(focusModeInq)); - delay(100); - receiveViscaData(); - Serial.print("Current Focus Status: "); - if(viscaMessage[2] == 2) { - Serial.println("Auto, Toggling to manual"); - sendViscaPacket(focusManual, sizeof(focusManual)); - } else { - Serial.println("Manual, Toggling to auto"); - sendViscaPacket(focusAuto, sizeof(focusAuto)); - } + sendViscaPacket(focusModeInq, sizeof(focusModeInq)); + delay(100); + receiveViscaData(); + Serial.print("Current Focus Status: "); + if(viscaMessage[2] == 2) { + Serial.println("Auto, Toggling to manual"); + sendViscaPacket(focusManual, sizeof(focusManual)); + } else { + Serial.println("Manual, Toggling to auto"); + sendViscaPacket(focusAuto, sizeof(focusAuto)); + } } -void sendViscaPacket(byte* packet, int byteSize, bool echoCommand, bool sendPacket) { - if(echoCommand == true) { - Serial.print("Sending:"); - } - for (int i = 0; i < byteSize; i++) - { - if(echoCommand == true) { - Serial.print(" 0x"); - Serial.print(packet[i], HEX); +void sendViscaPacket(byte *packet, int byteSize) { + if(DEBUG_VISCA == 1) { + Serial.print("Sending:"); + } + for (int i = 0; i < byteSize; i++) + { + if(DEBUG_VISCA == 1) { + Serial.print(" 0x"); + Serial.print(packet[i], HEX); + } + + viscaOutput.write(packet[i]); + } + if(DEBUG_VISCA == 1) { + Serial.println(); } - if(sendPacket == true) { - visca.write(packet[i]); - } - } - if(echoCommand == true) { - Serial.println(); - } } void initCameras() { - //Send Address command - Serial.println("Setting addresses..."); - sendViscaPacket(address_command, sizeof(address_command)); - delay(delayTime); //delay to allow camera time for next command - receiveViscaData(); - - // Turn off IR control - Serial.println("Disabling IR control..."); - sendViscaPacket(ir_off, sizeof(ir_off)); - delay(delayTime); //delay to allow camera time for next command - receiveViscaData(); - - //Send IF_clear command - Serial.println("Sending IF_Clear..."); - sendViscaPacket(if_clear, sizeof(if_clear)); - delay(delayTime); //delay to allow camera time for next command - receiveViscaData(); + //Send Address command + Serial.println("Setting addresses..."); + sendViscaPacket(address_command, sizeof(address_command)); + delay(delayTime); //delay to allow camera time for next command + receiveViscaData(); + + // Turn off IR control + Serial.println("Disabling IR control..."); + sendViscaPacket(ir_off, sizeof(ir_off)); + delay(delayTime); //delay to allow camera time for next command + receiveViscaData(); + + //Send IF_clear command + Serial.println("Sending IF_Clear..."); + sendViscaPacket(if_clear, sizeof(if_clear)); + delay(delayTime); //delay to allow camera time for next command + receiveViscaData(); } diff --git a/visca_controller/src/visca_controller.h b/visca_controller/src/visca_controller.h index 0cec5a4..3a110b6 100644 --- a/visca_controller/src/visca_controller.h +++ b/visca_controller/src/visca_controller.h @@ -2,21 +2,21 @@ #define VISCACONTROLLER #include -#include +//#include //#include #include -// Pin assignments from arduno shield. +// Toggle for echoing VISCA commands sent/received over serial monitor. +#define DEBUG_VISCA 1 +// Pin assignments from arduno shield. // Analog inputs #define PAN 0 #define TILT 1 #define ZOOM 2 #define AUX1 3 -#define AUX2 4 -#define AUX3 5 -// Serial I/O for VISCA +// Serial I/O for VISCA communication #define VISCARX 2 #define VISCATX 3 @@ -45,8 +45,8 @@ int buttons[] = { }; -const byte numChars = 16; -byte viscaMessage[numChars]; +const byte maxViscaMessageSize = 16; +byte viscaMessage[maxViscaMessageSize]; byte buttonPreviousStatus = 0x00; byte buttonCurrentStatus = 0x00; @@ -68,12 +68,12 @@ byte panTiltPosReq[5] = { 0x81, 0x09, 0x06, 0x12, 0xff }; // Resp: y0 50 0p 0q 0 // Zoom // Tele: 8x 01 04 07 2p ff // Wide: 8x 01 04 07 2p ff -byte zoom[6] = { 0x81, 0x01, 0x04, 0x07, 0x2F, 0xff }; // 8x 01 04 07 2p ff -byte zoomTele[6] = { 0x81, 0x01, 0x04, 0x07, 0x2F, 0xff }; // 8x 01 04 07 2p ff +byte zoomCommand[6] = {0x81, 0x01, 0x04, 0x07, 0x2F, 0xff }; // 8x 01 04 07 2p ff +byte zoomTele[6] = { 0x81, 0x01, 0x04, 0x07, 0x2F, 0xff }; // 8x 01 04 07 2p ff byte zoomWide[6] = { 0x81, 0x01, 0x04, 0x07, 0x3F, 0xff }; // 8x 01 04 07 3p ff byte zoomStop[6] = { 0x81, 0x01, 0x04, 0x07, 0x00, 0xff }; -byte zoomDirect[9] = { 0x81, 0x01, 0x04, 0x47, 0x00, 0x00, 0x00, 0x00, 0xff }; // 8x 01 04 47 0p 0q 0r 0s ff pqrs: zoom position -byte zoomPosReq[5] = { 0x81, 0x09, 0x04, 0x47, 0xff }; // Resp: y0 50 0p 0q 0r 0s ff +byte zoomDirect[9] = { 0x81, 0x01, 0x04, 0x47, 0x00, 0x00, 0x00, 0x00, 0xff }; // 8x 01 04 47 0p 0q 0r 0s ff pqrs: zoomCommand position +byte zoomPosReq[5] = { 0x81, 0x09, 0x04, 0x47, 0xff }; // Resp: y0 50 0p 0q 0r 0s ff // Focus @@ -107,6 +107,22 @@ byte callLedBlink[6] = { 0x81, 0x01, 0x33, 0x01, 0x02, 0xff}; int delayTime = 500; //Time between commands -void sendViscaPacket(byte* packet, int byteSize, bool echoCommand = true, bool sendPacket = true); +void sendViscaPacket(byte *packet, int byteSize); +void handleHardwareControl(); +void receiveViscaData(); +void handleSerialControl(); +void processButtons(); +void collectCurrentButtonStatus(); +bool buttonPressed(uint8_t button); +bool buttonReleased(uint8_t button); +bool getCurrentButtonStatus(uint8_t button); +void sendZoomPacket(byte zoomDir, int zoomSpeed); +bool getPreviousButtonStatus(uint8_t input); +void setButtonStatus(uint8_t input, bool status); +void processPan(int pan); +void processTilt(int tilt); +void processZoom(int zoom); +void toggleFocusControl(); +void initCameras(); #endif diff --git a/visca_controller/test/README b/visca_controller/test/README new file mode 100644 index 0000000..b94d089 --- /dev/null +++ b/visca_controller/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Unit Testing and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/page/plus/unit-testing.html