Add unit tests for failing TMC

more stuff will follow as these situations seem to cause various issues

src/hal/tmc2130.h

@@ -126,6 +126,14 @@ public:
         return errorFlags;
     }
 
+#ifdef UNITTEST
+    /// A very brutal way of fiddling with the error flags from the outside of this class
+    /// Intended only for the UNIT TESTS!
+    inline void SetErrorFlags(ErrorFlags ef) {
+        errorFlags = ef;
+    }
+#endif
+
     /// Reads a driver register and updates the status flags
     uint32_t ReadRegister(const MotorParams &params, Registers reg);
 

tests/unit/logic/CMakeLists.txt

@@ -13,3 +13,5 @@ add_subdirectory(load_filament)
 add_subdirectory(tool_change)
 
 add_subdirectory(unload_filament)
+
+add_subdirectory(failing_tmc)

tests/unit/logic/failing_tmc/CMakeLists.txt

@@ -0,0 +1,38 @@
+# define the test executable
+add_executable(
+  failing_tmc_tests
+  ${CMAKE_SOURCE_DIR}/src/logic/command_base.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/debouncer.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/fsensor.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/globals.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/idler.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/leds.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/movable_base.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/permanent_storage.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${MODULES_STUBS_DIR}/stub_adc.cpp
+  ${MODULES_STUBS_DIR}/stub_eeprom.cpp
+  ${MODULES_STUBS_DIR}/stub_gpio.cpp
+  ${MODULES_STUBS_DIR}/stub_shr16.cpp
+  ${MODULES_STUBS_DIR}/stub_timebase.cpp
+  ${MODULES_STUBS_DIR}/stub_tmc2130.cpp
+  ${LOGIC_STUBS_DIR}/main_loop_stub.cpp
+  ${LOGIC_STUBS_DIR}/stub_motion.cpp
+  test_failing_tmc.cpp
+  )
+
+# define required search paths
+target_include_directories(
+  failing_tmc_tests PUBLIC ${CMAKE_SOURCE_DIR}/src/modules ${CMAKE_SOURCE_DIR}/src/hal
+                           ${CMAKE_SOURCE_DIR}/src/logic
+  )
+
+# tell build system about the test case
+add_catch_test(failing_tmc_tests)

tests/unit/logic/failing_tmc/test_failing_tmc.cpp

@@ -0,0 +1,85 @@
+// This test checks reporting errors while some logic operation is in progress
+// As a base for this test, unload_filament was chosen.
+// Moreover, I didn't want to spoil the unit tests of the state machines themself with this.
+
+#include "catch2/catch.hpp"
+
+#include "../../../../src/modules/buttons.h"
+#include "../../../../src/modules/finda.h"
+#include "../../../../src/modules/fsensor.h"
+#include "../../../../src/modules/globals.h"
+#include "../../../../src/modules/idler.h"
+#include "../../../../src/modules/leds.h"
+#include "../../../../src/modules/motion.h"
+#include "../../../../src/modules/permanent_storage.h"
+#include "../../../../src/modules/selector.h"
+
+#include "../../../../src/logic/unload_filament.h"
+
+#include "../../modules/stubs/stub_adc.h"
+
+#include "../stubs/main_loop_stub.h"
+#include "../stubs/stub_motion.h"
+
+using Catch::Matchers::Equals;
+
+#include "../helpers/helpers.ipp"
+
+void CauseTMCError(mm::Axis axis, hal::tmc2130::ErrorFlags ef) {
+    hal::tmc2130::TMC2130 &tmc = const_cast<hal::tmc2130::TMC2130 &>(mm::motion.DriverForAxis(axis));
+    tmc.SetErrorFlags(ef);
+}
+
+inline ErrorCode operator|(ErrorCode a, ErrorCode b) {
+    return (ErrorCode)((uint16_t)a | (uint16_t)b);
+}
+
+void FailingIdler(hal::tmc2130::ErrorFlags ef, ErrorCode ec) {
+    // prepare startup conditions
+    ForceReinitAllAutomata();
+
+    // change the startup to what we need here
+    EnsureActiveSlotIndex(0);
+
+    mg::globals.SetFilamentLoaded(true);
+
+    // set FINDA ON + debounce
+    SetFINDAStateAndDebounce(true);
+
+    logic::UnloadFilament uf;
+
+    // verify startup conditions
+    REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), 0, true, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
+
+    // UnloadFilament starts by engaging the idler (through the UnloadToFinda state machine)
+    uf.Reset(0);
+
+    REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), 0, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
+
+    REQUIRE(WhileCondition(
+        uf,
+        [&](int step) -> bool {
+        if(step == 5){ // on 5th step make the TMC report some error
+            CauseTMCError(mm::Idler, ef);
+        }
+        return uf.TopLevelState() == ProgressCode::UnloadingToFinda; },
+        5000));
+
+    // and this must cause the state machine to run into a TMC error state and report the error correctly
+    // Please note we are leaving the Idler in an intermediate position due to the TMC failure,
+    // so we cannot use the usual VerifyState(), but have to check the stuff manually
+    // REQUIRE(VerifyState(uf, true, raw_6, 0, false, ml::blink0, ml::blink0, ec, ProgressCode::ERRTMCFailed));
+    REQUIRE(mm::axes[mm::Idler].pos == 6);
+    REQUIRE(ml::leds.Mode(0, ml::red) == ml::off);
+    REQUIRE(ml::leds.Mode(0, ml::green) == ml::blink0);
+    REQUIRE(uf.Error() == ec);
+    REQUIRE(uf.TopLevelState() == ProgressCode::ERRTMCFailed);
+
+    // repeated calls to step this logic automaton shall produce no change
+}
+
+TEST_CASE("failing_tmc::failing_idler", "[failing_tmc]") {
+    hal::tmc2130::ErrorFlags ef;
+    ef.ot = 1; // make the TMC hot like hell
+    FailingIdler(ef, ErrorCode::TMC_OVER_TEMPERATURE_ERROR | ErrorCode::TMC_IDLER_BIT);
+}