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Test ToolChange error recovery by button 0 and 1

pull/138/head
D.R.racer 2021-11-09 17:07:54 +01:00 committed by DRracer
parent 7fe9d7f329
commit 515119edc8
8 changed files with 182 additions and 37 deletions
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1
src/logic/command_base.cpp
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@ -117,6 +117,7 @@ void CommandBase::GoToErrDisengagingIdler(ErrorCode ec) {
void CommandBase::GoToErrEngagingIdler() {
state = ProgressCode::ERREngagingIdler;
error = ErrorCode::RUNNING;
mi::idler.Engage(mg::globals.ActiveSlot());
}

14
src/logic/feed_to_bondtech.cpp
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@ -19,6 +19,14 @@ void FeedToBondtech::Reset(uint8_t maxRetries) {
mi::idler.Engage(mg::globals.ActiveSlot());
}
void logic::FeedToBondtech::GoToPushToNozzle() {
mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InFSensor);
// plan a slow move to help push filament into the nozzle
//@@TODO the speed in mm/s must correspond to printer's feeding speed!
mm::motion.PlanMove<mm::Pulley>(config::fsensorToNozzle, config::pulleySlowFeedrate);
state = PushingFilamentIntoNozzle;
}
bool FeedToBondtech::Step() {
switch (state) {
case EngagingIdler:
@ -34,11 +42,7 @@ bool FeedToBondtech::Step() {
//dbg_logic_P(PSTR("Feed to Bondtech --> Pushing"));
if (mfs::fsensor.Pressed()) {
mm::motion.AbortPlannedMoves(); // stop pushing filament
mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InFSensor);
// plan a slow move to help push filament into the nozzle
//@@TODO the speed in mm/s must correspond to printer's feeding speed!
mm::motion.PlanMove<mm::Pulley>(config::fsensorToNozzle, config::pulleySlowFeedrate);
state = PushingFilamentIntoNozzle;
GoToPushToNozzle();
} else if (mm::motion.StallGuard(mm::Pulley)) {
// stall guard occurred during movement - the filament got stuck
state = Failed; // @@TODO may be even report why it failed

5
src/logic/feed_to_bondtech.h
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@ -36,6 +36,11 @@ struct FeedToBondtech {
/// @returns Failed if the maximum feed length has been reached without the the printer's fsensor trigger being reported
inline uint8_t State() const { return state; }
/// Transition to PushingFilamentIntoNozzle.
/// Allows jumping into the state machine from outside just to push filament slowly into the nozzle
/// (this principle uses tool change)
void GoToPushToNozzle();
private:
uint8_t state;
uint8_t maxRetries;

36
src/logic/tool_change.cpp
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@ -44,6 +44,21 @@ void ToolChange::Reset(uint8_t param) {
}
}
void logic::ToolChange::GoToFeedingToBondtech() {
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
james.Reset(3);
state = ProgressCode::FeedingToBondtech;
error = ErrorCode::RUNNING;
}
void logic::ToolChange::FinishedCorrectly() {
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
state = ProgressCode::OK;
error = ErrorCode::OK;
}
bool ToolChange::StepInner() {
switch (state) {
case ProgressCode::UnloadingFilament:
@ -62,8 +77,7 @@ bool ToolChange::StepInner() {
if (feed.State() == FeedToFinda::Failed) {
GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_ON); // signal loading error
} else {
state = ProgressCode::FeedingToBondtech;
james.Reset(3);
GoToFeedingToBondtech();
}
}
break;
@ -72,15 +86,13 @@ bool ToolChange::StepInner() {
if (james.State() == FeedToBondtech::Failed) {
GoToErrDisengagingIdler(ErrorCode::FSENSOR_DIDNT_SWITCH_ON); // signal loading error
} else {
state = ProgressCode::OK;
error = ErrorCode::OK;
FinishedCorrectly();
}
}
break;
case ProgressCode::OK:
return true;
// @@TODO error handling definitely needs unifying with the LoadFilament state machine
case ProgressCode::ERRDisengagingIdler:
ErrDisengagingIdler();
return false;
@ -106,10 +118,7 @@ bool ToolChange::StepInner() {
state = ProgressCode::ERRWaitingForUser; // stand still
} else {
// all sensors are ok
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
state = ProgressCode::OK;
error = ErrorCode::OK;
FinishedCorrectly();
}
break;
default: // no event, continue waiting for user input
@ -127,14 +136,13 @@ bool ToolChange::StepInner() {
// @@TODO helping filament needs improvement - the filament should try to move forward as long as the button is pressed
if (mf::finda.Pressed()) {
// the help was enough to press the FINDA, we are ok, continue normally
state = ProgressCode::FeedingToBondtech;
error = ErrorCode::RUNNING;
GoToFeedingToBondtech();
} else if (mfs::fsensor.Pressed()) {
// the help was enough to press the filament sensor, we are ok, continue normally
// This is not correct @@TODO - when the fsensor triggers, we still need to push the filament into the nozzle/gears
GoToFeedingToBondtech();
// Beware, when the fsensor triggers, we still need to push the filament into the nozzle/gears
// which requires restarting James from its last stage
state = ProgressCode::FeedingToBondtech;
error = ErrorCode::RUNNING;
james.GoToPushToNozzle();
} else if (mm::motion.QueueEmpty()) {
// helped a bit, but FINDA/Fsensor didn't trigger, return to the main error state
GoToErrDisengagingIdler(ErrorCode::FSENSOR_DIDNT_SWITCH_ON);

5
src/logic/tool_change.h
View File

@ -26,6 +26,11 @@ public:
ErrorCode Error() const override;
private:
void GoToFeedingToBondtech();
/// Common code for a correct completion of UnloadFilament
void FinishedCorrectly();
UnloadFilament unl; ///< a high-level command/operation may be used as a building block of other operations as well
FeedToFinda feed;
FeedToBondtech james; // bond ;)

4
tests/unit/logic/load_filament/test_load_filament.cpp
View File

@ -101,12 +101,12 @@ void FailedLoadToFindaResolveHelp(uint8_t slot, logic::LoadFilament &lf) {
// In this case we check the first option
PressButtonAndDebounce(lf, mb::Left);
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_ON, ProgressCode::ERREngagingIdler));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERREngagingIdler));
// Stage 4 - engage the idler
REQUIRE(WhileTopState(lf, ProgressCode::ERREngagingIdler, idlerEngageDisengageMaxSteps));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, slot, slot, false, true, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_ON, ProgressCode::ERRHelpingFilament));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, slot, slot, false, true, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRHelpingFilament));
}
void FailedLoadToFindaResolveHelpFindaTriggered(uint8_t slot, logic::LoadFilament &lf) {

150
tests/unit/logic/tool_change/test_tool_change.cpp
View File

@ -21,13 +21,15 @@ using Catch::Matchers::Equals;
#include "../helpers/helpers.ipp"
void FeedingToFinda(logic::ToolChange &tc, uint8_t toSlot) {
void FeedingToFinda(logic::ToolChange &tc, uint8_t toSlot, uint32_t triggerAt = 1000) {
// feeding to finda
REQUIRE(WhileCondition(
tc,
[&](int step) -> bool {
if(step == 1000){ // on 1000th step make FINDA trigger
if(step == triggerAt){ // on specified stepNr make FINDA trigger
hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::high);
} else if(step >= triggerAt + config::findaDebounceMs + 1){
REQUIRE(mf::finda.Pressed() == true);
}
return tc.TopLevelState() == ProgressCode::FeedingToFinda; },
200000UL));
@ -47,7 +49,13 @@ void FeedingToBondtech(logic::ToolChange &tc, uint8_t toSlot) {
REQUIRE(VerifyState(tc, mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), toSlot, true, false, ml::on, ml::off, ErrorCode::OK, ProgressCode::OK));
}
void ToolChange(logic::ToolChange tc, uint8_t fromSlot, uint8_t toSlot) {
void CheckFinishedCorrectly(logic::ToolChange &tc, uint8_t toSlot) {
REQUIRE(tc.TopLevelState() == ProgressCode::OK);
REQUIRE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::InNozzle);
REQUIRE(mg::globals.ActiveSlot() == toSlot);
}
void ToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
ForceReinitAllAutomata();
EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle);
@ -63,20 +71,23 @@ void ToolChange(logic::ToolChange tc, uint8_t fromSlot, uint8_t toSlot) {
}
return tc.TopLevelState() == ProgressCode::UnloadingFilament; },
200000UL));
CHECKED_ELSE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::AtPulley) {
++toSlot;
}
auto gf = ml::leds.Mode(fromSlot, ml::green);
auto gt = ml::leds.Mode(toSlot, ml::green);
auto rf = ml::leds.Mode(fromSlot, ml::red);
auto rt = ml::leds.Mode(toSlot, ml::red);
// REQUIRE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::AtPulley);
REQUIRE(VerifyState2(tc, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), fromSlot, false, false, toSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
FeedingToFinda(tc, toSlot);
FeedingToBondtech(tc, toSlot);
REQUIRE(tc.TopLevelState() == ProgressCode::OK);
REQUIRE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::InNozzle);
REQUIRE(mg::globals.ActiveSlot() == toSlot);
CheckFinishedCorrectly(tc, toSlot);
}
void NoToolChange(logic::ToolChange tc, uint8_t fromSlot, uint8_t toSlot) {
void NoToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
ForceReinitAllAutomata();
// the filament is LOADED
@ -92,7 +103,7 @@ void NoToolChange(logic::ToolChange tc, uint8_t fromSlot, uint8_t toSlot) {
REQUIRE(tc.Error() == ErrorCode::OK);
}
void JustLoadFilament(logic::ToolChange tc, uint8_t slot) {
void JustLoadFilament(logic::ToolChange &tc, uint8_t slot) {
ForceReinitAllAutomata();
EnsureActiveSlotIndex(slot, mg::FilamentLoadState::AtPulley);
@ -107,9 +118,7 @@ void JustLoadFilament(logic::ToolChange tc, uint8_t slot) {
FeedingToBondtech(tc, slot);
REQUIRE(tc.TopLevelState() == ProgressCode::OK);
REQUIRE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::InNozzle);
REQUIRE(mg::globals.ActiveSlot() == slot);
CheckFinishedCorrectly(tc, slot);
}
TEST_CASE("tool_change::test0", "[tool_change]") {
@ -154,3 +163,116 @@ TEST_CASE("tool_change::same_slot_just_unloaded_filament", "[tool_change]") {
JustLoadFilament(tc, toSlot);
}
}
void ToolChangeFailLoadToFinda(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
ForceReinitAllAutomata();
EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle);
// restart the automaton
tc.Reset(toSlot);
REQUIRE(WhileCondition(
tc,
[&](int step) -> bool {
if(step == 2000){ // on 2000th step make FINDA trigger
hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::low);
}
return tc.TopLevelState() == ProgressCode::UnloadingFilament; },
200000UL));
REQUIRE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::AtPulley);
// feeding to finda, but fails - do not trigger FINDA
REQUIRE(WhileTopState(tc, ProgressCode::FeedingToFinda, 50000UL));
// should end up in error disengage idler
REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, toSlot, toSlot, false, true, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_ON, ProgressCode::ERRDisengagingIdler));
REQUIRE(WhileTopState(tc, ProgressCode::ERRDisengagingIdler, 5000));
}
void ToolChangeFailLoadToFindaButton0(logic::ToolChange &tc, uint8_t toSlot) {
// now waiting for user input
PressButtonAndDebounce(tc, 0);
REQUIRE(WhileTopState(tc, ProgressCode::ERREngagingIdler, 5000UL));
REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, toSlot, toSlot, false, true, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRHelpingFilament));
// try push more, if FINDA triggers, continue loading
REQUIRE(WhileCondition(
tc,
[&](int step) -> bool {
if(step == 20){ // on 20th step make FINDA trigger
hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::high);
}
return tc.TopLevelState() == ProgressCode::ERRHelpingFilament; },
2000UL));
REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, toSlot, toSlot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToBondtech));
FeedingToBondtech(tc, toSlot);
CheckFinishedCorrectly(tc, toSlot);
}
void ToolChangeFailLoadToFindaButton1(logic::ToolChange &tc, uint8_t toSlot) {
// now waiting for user input
PressButtonAndDebounce(tc, 1);
REQUIRE(WhileCondition(
tc,
[&](int step) -> bool {
if(step == 2000){ // on 2000th step make FINDA trigger
hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::low);
}
return tc.TopLevelState() == ProgressCode::UnloadingFilament; },
200000UL));
REQUIRE(VerifyState(tc, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), toSlot, false, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
// retry the whole operation
// beware - the FeedToFinda state machine will leverage the already engaged Idler,
// so the necessary number of steps to reach the FINDA is quite low (~200 was lowest once tested)
// without running short of max distance of Pulley to travel
FeedingToFinda(tc, toSlot, 200);
FeedingToBondtech(tc, toSlot);
CheckFinishedCorrectly(tc, toSlot);
}
void ToolChangeFailLoadToFindaButton2(logic::ToolChange &tc, uint8_t toSlot) {
// now waiting for user input
PressButtonAndDebounce(tc, 2);
// the user resolved the situation by hand
FeedingToFinda(tc, toSlot);
FeedingToBondtech(tc, toSlot);
CheckFinishedCorrectly(tc, toSlot);
}
TEST_CASE("tool_change::load_fail_FINDA_resolve_btn0", "[tool_change]") {
logic::ToolChange tc;
for (uint8_t fromSlot = 0; fromSlot < config::toolCount; ++fromSlot) {
for (uint8_t toSlot = 0; toSlot < config::toolCount; ++toSlot) {
if (fromSlot != toSlot) {
ToolChangeFailLoadToFinda(tc, fromSlot, toSlot);
ToolChangeFailLoadToFindaButton0(tc, toSlot);
}
}
}
}
TEST_CASE("tool_change::load_fail_FINDA_resolve_btn1", "[tool_change]") {
logic::ToolChange tc;
for (uint8_t fromSlot = 0; fromSlot < config::toolCount; ++fromSlot) {
for (uint8_t toSlot = 0; toSlot < config::toolCount; ++toSlot) {
if (fromSlot != toSlot) {
ToolChangeFailLoadToFinda(tc, fromSlot, toSlot);
ToolChangeFailLoadToFindaButton1(tc, toSlot);
}
}
}
}

4
tests/unit/logic/unload_filament/test_unload_filament.cpp
View File

@ -164,7 +164,7 @@ void FindaDidntTriggerResolveHelp(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, false, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_OFF, ProgressCode::ERREngagingIdler));
REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, true, false, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERREngagingIdler));
// Stage 4 - engage the idler
REQUIRE(WhileTopState(uf, ProgressCode::ERREngagingIdler, idlerEngageDisengageMaxSteps));
@ -174,7 +174,7 @@ void FindaDidntTriggerResolveHelp(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, slot, slot, true, true, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_OFF, ProgressCode::ERRHelpingFilament));
REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, slot, slot, true, true, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRHelpingFilament));
}
void FindaDidntTriggerResolveHelpFindaTriggered(uint8_t slot, logic::UnloadFilament &uf) {