Unit test ErrDisengageIdler: make sure it never sets error while disengaging

tests/unit/logic/load_filament/test_load_filament.cpp

@@ -113,7 +113,8 @@ void FailedLoadToFinda(uint8_t slot, logic::LoadFilament &lf) {
     REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, slot, slot, false, true, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRDisengagingIdler));
 
     // Stage 3 - disengaging idler in error mode
-    REQUIRE(WhileTopState(lf, ProgressCode::ERRDisengagingIdler, idlerEngageDisengageMaxSteps));
+    SimulateErrDisengagingIdler(lf, ErrorCode::FINDA_DIDNT_SWITCH_ON);
+
     REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_ON, ProgressCode::ERRWaitingForUser));
 }
 

tests/unit/logic/stubs/main_loop_stub.cpp

@@ -1,3 +1,4 @@
+#include "catch2/catch.hpp"
 #include "main_loop_stub.h"
 #include "homing.h"
 
@@ -162,3 +163,17 @@ void SetFSensorStateAndDebounce(bool press) {
         main_loop();
     }
 }
+
+void SimulateErrDisengagingIdler(logic::CommandBase &cb, ErrorCode deferredEC) {
+    REQUIRE(WhileCondition(
+        cb, [&](uint32_t) {
+            if (cb.TopLevelState() == ProgressCode::ERRDisengagingIdler) {
+                REQUIRE(cb.Error() == ErrorCode::RUNNING); // ensure the error gets never set while disengaging the idler
+                return true;
+            } else {
+                REQUIRE(cb.Error() == deferredEC);
+                return false;
+            }
+        },
+        idlerEngageDisengageMaxSteps));
+}

tests/unit/logic/stubs/main_loop_stub.h

@@ -41,3 +41,5 @@ static constexpr uint32_t idlerEngageDisengageMaxSteps = 40000UL;
 static constexpr uint32_t selectorMoveMaxSteps = 40000UL;
 
 void HomeIdlerAndSelector();
+
+void SimulateErrDisengagingIdler(logic::CommandBase &cb, ErrorCode deferredEC);

tests/unit/logic/tool_change/test_tool_change.cpp

@@ -193,7 +193,8 @@ void ToolChangeFailLoadToFinda(logic::ToolChange &tc, uint8_t fromSlot, uint8_t
 
     // should end up in error disengage idler
     REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, toSlot, toSlot, false, true, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRDisengagingIdler));
-    REQUIRE(WhileTopState(tc, ProgressCode::ERRDisengagingIdler, 5000));
+
+    SimulateErrDisengagingIdler(tc, ErrorCode::FINDA_DIDNT_SWITCH_ON);
 }
 
 void ToolChangeFailLoadToFindaLeftBtn(logic::ToolChange &tc, uint8_t toSlot) {

tests/unit/logic/unload_filament/test_unload_filament.cpp

@@ -150,7 +150,7 @@ void FindaDidntTriggerCommonSetup(uint8_t slot, logic::UnloadFilament &uf) {
     REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, slot, slot, true, true, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRDisengagingIdler));
 
     // Stage 2 - idler should get disengaged
-    REQUIRE(WhileTopState(uf, ProgressCode::ERRDisengagingIdler, idlerEngageDisengageMaxSteps));
+    SimulateErrDisengagingIdler(uf, ErrorCode::FINDA_DIDNT_SWITCH_OFF);
 
     // we still think we have filament loaded at this stage
     // idler should have been disengaged