From 0c8ba878f3daa3ec90f82291a68afd2dfea9d933 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gu=C3=B0ni=20M=C3=A1r=20Gilbert?= <gudni.m.g@gmail.com>
Date: Mon, 29 May 2023 12:44:22 +0000
Subject: [PATCH] MMU-239 Add unit test for ejecting slots 0-4

This test ejects slots 0 to 4 and goes through the state machine
without creating any errors like FINDA_FLICKERS.

It also verifies the selector parking position is correct for each
ejected filament slot.
---
 .../eject_filament/test_eject_filament.cpp    | 64 +++++++++++--------
 1 file changed, 36 insertions(+), 28 deletions(-)

diff --git a/tests/unit/logic/eject_filament/test_eject_filament.cpp b/tests/unit/logic/eject_filament/test_eject_filament.cpp
index baf4562..5812c9d 100644
--- a/tests/unit/logic/eject_filament/test_eject_filament.cpp
+++ b/tests/unit/logic/eject_filament/test_eject_filament.cpp
@@ -1,4 +1,5 @@
 #include "catch2/catch_test_macros.hpp"
+#include "catch2/generators/catch_generators.hpp"
 
 #include "../../../../src/modules/buttons.h"
 #include "../../../../src/modules/finda.h"
@@ -19,53 +20,60 @@
 
 #include "../helpers/helpers.ipp"
 
-// temporarily disabled
-TEST_CASE("eject_filament::eject0", "[eject_filament][.]") {
+TEST_CASE("eject_filament::eject0-4", "[eject_filament]") {
     using namespace logic;
 
+    uint8_t ejectSlot = GENERATE(0, 1, 2, 3, 4);
+    uint8_t selectorParkedPos = (ejectSlot <= 2) ? 4 : 0;
+
     ForceReinitAllAutomata();
-    REQUIRE(EnsureActiveSlotIndex(0, mg::FilamentLoadState::AtPulley));
+
+    REQUIRE(EnsureActiveSlotIndex(ejectSlot, mg::FilamentLoadState::AtPulley));
 
     EjectFilament ef;
     // restart the automaton
-    ef.Reset(0);
+    ef.Reset(ejectSlot);
 
     main_loop();
 
-    // it should have instructed the selector and idler to move to slot 1
-    // check if the idler and selector have the right command
-    CHECK(mm::AxisNearestTargetPos(mm::Idler) == mi::Idler::SlotPosition(0).v);
-    CHECK(mm::AxisNearestTargetPos(mm::Selector) == ms::Selector::SlotPosition(4).v);
+    // Start at UnloadingFilament
+    REQUIRE(ef.TopLevelState() == ProgressCode::UnloadingFilament);
 
-    // now cycle at most some number of cycles (to be determined yet) and then verify, that the idler and selector reached their target positions
-    REQUIRE(WhileTopState(ef, ProgressCode::SelectingFilamentSlot, 5000));
+    REQUIRE(WhileTopState(ef, ProgressCode::UnloadingFilament, 5000));
 
-    // idler and selector reached their target positions and the CF automaton will start feeding to FINDA as the next step
-    REQUIRE(ef.TopLevelState() == ProgressCode::FeedingToFinda);
-    // prepare for simulated finda trigger
-    hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::high);
-    REQUIRE(WhileTopState(ef, ProgressCode::FeedingToFinda, 50000));
+    REQUIRE(ef.TopLevelState() == ProgressCode::ParkingSelector);
 
-    // filament fed into FINDA, cutting...
-    REQUIRE(ef.TopLevelState() == ProgressCode::PreparingBlade);
-    REQUIRE(WhileTopState(ef, ProgressCode::PreparingBlade, 5000));
+    REQUIRE(WhileTopState(ef, ProgressCode::ParkingSelector, selectorMoveMaxSteps));
 
+    // Engaging idler
     REQUIRE(ef.TopLevelState() == ProgressCode::EngagingIdler);
+
     REQUIRE(WhileTopState(ef, ProgressCode::EngagingIdler, 5000));
 
-    // the idler should be at the active slot @@TODO
-    REQUIRE(ef.TopLevelState() == ProgressCode::PushingFilament);
-    REQUIRE(WhileTopState(ef, ProgressCode::PushingFilament, 5000));
+    REQUIRE(mi::idler.Engaged());
+    REQUIRE(ef.TopLevelState() == ProgressCode::EjectingFilament);
 
-    // filament pushed - performing cut
-    REQUIRE(ef.TopLevelState() == ProgressCode::PerformingCut);
-    REQUIRE(WhileTopState(ef, ProgressCode::PerformingCut, 5000));
+    REQUIRE(WhileTopState(ef, ProgressCode::EjectingFilament, 5000));
 
-    // returning selector
-    REQUIRE(ef.TopLevelState() == ProgressCode::ReturningSelector);
-    REQUIRE(WhileTopState(ef, ProgressCode::ReturningSelector, 5000));
+    // should end up in error disengage idler
+    REQUIRE(VerifyState2(ef, mg::FilamentLoadState::AtPulley, ejectSlot, selectorParkedPos, false, true, ejectSlot, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRDisengagingIdler));
 
-    // the next states are still @@TODO
+    SimulateErrDisengagingIdler(ef, ErrorCode::FILAMENT_EJECTED);
+
+    // Pulley should now be disabled
+    REQUIRE(VerifyState2(ef, mg::FilamentLoadState::AtPulley, mi::idler.IdleSlotIndex(), selectorParkedPos, false, false, ejectSlot, ml::off, ml::blink0, ErrorCode::FILAMENT_EJECTED, ProgressCode::ERRWaitingForUser));
+
+    // Now press Done button
+    PressButtonAndDebounce(ef, mb::Middle, true);
+    ClearButtons(ef);
+
+    // Idler and Selector are not on HOLD state
+    REQUIRE(mi::idler.State() != mm::MovableBase::OnHold);
+    REQUIRE(ms::selector.State() != mm::MovableBase::OnHold);
+
+    // Error code is now OK
+    // LEDs turn off at the ejected slot
+    REQUIRE(VerifyState2(ef, mg::FilamentLoadState::AtPulley, mi::idler.IdleSlotIndex(), selectorParkedPos, false, false, ejectSlot, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
 }
 
 TEST_CASE("eject_filament::invalid_slot", "[eject_filament]") {