UnloadFilament: update unit tests + LED signalization

src/logic/feed_to_bondtech.cpp

@@ -17,7 +17,7 @@ void FeedToBondtech::Reset(uint8_t maxRetries) {
     dbg_logic_P(PSTR("\nFeed to Bondtech\n\n"));
     state = EngagingIdler;
     this->maxRetries = maxRetries;
-    ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
+    ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::blink0, ml::off);
     mi::idler.Engage(mg::globals.ActiveSlot());
 }
 

src/logic/unload_filament.cpp

@@ -30,7 +30,6 @@ bool UnloadFilament::Reset(uint8_t /*param*/) {
     error = ErrorCode::RUNNING;
     skipDisengagingIdler = false;
     unl.Reset(maxRetries);
-    ml::leds.SetAllOff();
     return true;
 }
 

src/logic/unload_to_finda.cpp

@@ -22,6 +22,7 @@ void UnloadToFinda::Reset(uint8_t maxTries) {
         state = EngagingIdler;
         mi::idler.PartiallyDisengage(mg::globals.ActiveSlot()); // basically prepare before the active slot - saves ~1s
         started_ms = mt::timebase.Millis();
+        ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::blink0, ml::off);
     }
 }
 
@@ -46,7 +47,6 @@ bool UnloadToFinda::Step() {
             if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
                 state = UnloadingToFinda;
                 mpu::pulley.InitAxis();
-                ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
                 mi::idler.Engage(mg::globals.ActiveSlot());
 
                 //  slow move for the first few millimeters - help the printer relieve the filament while engaging the Idler fully

tests/unit/logic/failing_tmc/test_failing_tmc.cpp

@@ -51,7 +51,7 @@ void FailingMovableUnload(hal::tmc2130::ErrorFlags ef, ErrorCode ec, config::Axi
     // UnloadFilament starts by engaging the idler (through the UnloadToFinda state machine)
     uf.Reset(0);
 
-    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), 0, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
+    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), 0, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
 
     REQUIRE(WhileCondition(
         uf,

tests/unit/logic/tool_change/test_tool_change.cpp

@@ -328,7 +328,7 @@ void ToolChangeFailFSensor(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSl
     // restart the automaton
     tc.Reset(toSlot);
 
-    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InNozzle, mi::idler.IdleSlotIndex(), fromSlot, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
+    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InNozzle, mi::idler.IdleSlotIndex(), fromSlot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
     // simulate unload to finda but fail the fsensor test
     REQUIRE(WhileCondition(tc, std::bind(SimulateUnloadToFINDA, _1, 500'000, 10'000), 200'000));
     REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, mi::idler.IdleSlotIndex(), fromSlot, false, false, ml::off, ml::blink0, ErrorCode::FSENSOR_DIDNT_SWITCH_OFF, ProgressCode::UnloadingFilament));
@@ -528,7 +528,7 @@ void ToolChangeFSENSOR_TOO_EARLY(logic::ToolChange &tc, uint8_t slot) {
 
     // make AutoRetry
     PressButtonAndDebounce(tc, mb::Middle, true);
-    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, mi::idler.IdleSlotIndex(), slot, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
+    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, mi::idler.IdleSlotIndex(), slot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
 
     SimulateIdlerHoming(tc);
 

tests/unit/logic/unload_filament/test_unload_filament.cpp

@@ -53,16 +53,10 @@ void RegularUnloadFromSlot04(uint8_t slot, logic::UnloadFilament &uf, uint8_t en
     REQUIRE(VerifyState(uf, (mg::FilamentLoadState)(mg::FilamentLoadState::InNozzle | mg::FilamentLoadState::InSelector),
         entryIdlerSlotIndex, slot, true, true, entryGreenLED, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
 
-    // run the automaton
+    REQUIRE(WhileCondition(uf, std::bind(SimulateUnloadToFINDA, _1, 100, 2'000), 200'000));
-    // Stage 1 - unloading to FINDA
+
-    REQUIRE(WhileCondition(
+    main_loop();
-        uf,
+    uf.Step();
-        [&](uint32_t step) -> bool {
-        if(step == 100){ // on 100th step make FINDA trigger
-            hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::low);
-        }
-        return uf.TopLevelState() == ProgressCode::UnloadingToFinda; },
-        50000));
 
     // we still think we have filament loaded at this stage
     // idler should have been activated by the underlying automaton
@@ -100,7 +94,7 @@ TEST_CASE("unload_filament::regular_unload_from_slot_0-4", "[unload_filament]")
     for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
         logic::UnloadFilament uf;
         RegularUnloadFromSlot04Init(slot, uf);
-        RegularUnloadFromSlot04(slot, uf, mi::Idler::IdleSlotIndex(), false, ml::off);
+        RegularUnloadFromSlot04(slot, uf, mi::Idler::IdleSlotIndex(), false, ml::blink0);
     }
 }
 
@@ -130,7 +124,7 @@ void FindaDidntTriggerCommonSetup(uint8_t slot, logic::UnloadFilament &uf) {
     // FINDA triggered off
     // green LED should be off
     // no error so far
-    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), slot, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
+    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), slot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
 
     // run the automaton
     // Stage 1 - unloading to FINDA - do NOT let it trigger - keep it pressed, the automaton should finish all moves with the pulley
@@ -177,7 +171,7 @@ void FindaDidntTriggerResolveTryAgain(uint8_t slot, logic::UnloadFilament &uf) {
     // no change in selector's position
     // FINDA still on
     // red LED should blink, green LED should be off
-    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
+    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
 
     ClearButtons(uf);