Force Tool Change to load the filament if same slot but not loaded

MMU-63

src/logic/tool_change.cpp

@@ -17,9 +17,13 @@ void ToolChange::Reset(uint8_t param) {
         return;
     }
 
-    if (param == mg::globals.ActiveSlot())
+    if (param == mg::globals.ActiveSlot() && mg::globals.FilamentLoaded()) {
+        // we are already at the correct slot and the filament is loaded - nothing to do
         return;
+    }
 
+    // we are either already at the correct slot, just the filament is not loaded - load the filament directly
+    // or we are standing at another slot ...
     plannedSlot = param;
 
     if (mg::globals.FilamentLoaded()) {

tests/unit/logic/tool_change/test_tool_change.cpp

@@ -56,8 +56,13 @@ void ToolChange(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
+    mg::globals.SetFilamentLoaded(true);
+
     EnsureActiveSlotIndex(fromSlot);
 
+    REQUIRE(VerifyEnvironmentState(true, mi::Idler::IdleSlotIndex(), toSlot, false, ml::off, ml::off));
+
     // restart the automaton
     tc.Reset(toSlot);
 
@@ -66,6 +71,31 @@ void NoToolChange(logic::ToolChange tc, uint8_t fromSlot, uint8_t toSlot) {
     REQUIRE(tc.Error() == ErrorCode::OK);
 }
 
+void JustLoadFilament(logic::ToolChange tc, uint8_t slot) {
+    ForceReinitAllAutomata();
+
+    EnsureActiveSlotIndex(slot);
+
+    // verify filament NOT loaded
+    REQUIRE(VerifyEnvironmentState(false, mi::Idler::IdleSlotIndex(), slot, false, ml::off, ml::off));
+
+    // restart the automaton
+    tc.Reset(slot);
+
+    REQUIRE(WhileCondition(
+        tc,
+        [&](int step) -> bool {
+        if(step == 1000){ // on 1000th step make FINDA trigger
+            hal::adc::SetADC(config::findaADCIndex, 900);
+        }
+        return tc.TopLevelState() == ProgressCode::LoadingFilament; },
+        200000UL));
+
+    REQUIRE(tc.TopLevelState() == ProgressCode::OK);
+    REQUIRE(mg::globals.FilamentLoaded() == true);
+    REQUIRE(mg::globals.ActiveSlot() == slot);
+}
+
 TEST_CASE("tool_change::test0", "[tool_change]") {
     for (uint8_t fromSlot = 0; fromSlot < config::toolCount; ++fromSlot) {
         for (uint8_t toSlot = 0; toSlot < config::toolCount; ++toSlot) {
@@ -101,3 +131,10 @@ TEST_CASE("tool_change::state_machine_reusal", "[tool_change]") {
         }
     }
 }
+
+TEST_CASE("tool_change::same_slot_just_unloaded_filament", "[tool_change]") {
+    for (uint8_t toSlot = 0; toSlot < config::toolCount; ++toSlot) {
+        logic::ToolChange tc;
+        JustLoadFilament(tc, toSlot);
+    }
+}