From 622361316754773b931ef9a6f12c6aeadf5302bf Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gu=C3=B0ni=20M=C3=A1r=20Gilbert?= <gudni.m.g@gmail.com>
Date: Sat, 17 Dec 2022 15:18:42 +0000
Subject: [PATCH] If finda is ever pressed, don't move selector.

I moved the check higher.

This triggered a FINDA FLICKER failure in Load_filament.cpp
Now the test covers it :) (Didn't before)
---
 src/logic/load_filament.cpp                   |  1 +
 src/modules/selector.cpp                      | 12 ++++-----
 .../load_filament/test_load_filament.cpp      | 27 ++++++++++++++++---
 3 files changed, 31 insertions(+), 9 deletions(-)

diff --git a/src/logic/load_filament.cpp b/src/logic/load_filament.cpp
index ec2b447..9a020f7 100644
--- a/src/logic/load_filament.cpp
+++ b/src/logic/load_filament.cpp
@@ -126,6 +126,7 @@ bool LoadFilament::StepInner() {
             break;
         case mui::Event::Middle: // try again the whole sequence
             // however it depends on the state of FINDA - if it is on, we must perform unload first
+            InvalidateHoming();
             if (!mf::finda.Pressed()) {
                 Reset2(false);
             } else {
diff --git a/src/modules/selector.cpp b/src/modules/selector.cpp
index e2c015c..4a1560c 100644
--- a/src/modules/selector.cpp
+++ b/src/modules/selector.cpp
@@ -62,6 +62,12 @@ Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
     }
     plannedSlot = slot;
 
+    if (mf::finda.Pressed()) {
+        // @@TODO not sure why (if) this happens, but anyway - we must not move the selector if FINDA is pressed
+        // That includes the CutFilament operation as well
+        return OperationResult::Refused;
+    }
+
     // if we are homing right now, just record the desired planned slot and return Accepted
     if (state == HomeBack) {
         return OperationResult::Accepted;
@@ -73,12 +79,6 @@ Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
         return OperationResult::Accepted;
     }
 
-    if (mf::finda.Pressed()) {
-        // @@TODO not sure why (if) this happens, but anyway - we must not move the selector if FINDA is pressed
-        // That includes the CutFilament operation as well
-        return OperationResult::Refused;
-    }
-
     // coordinates invalid, first home, then engage
     if (!homingValid && mg::globals.FilamentLoaded() < mg::FilamentLoadState::InSelector) {
         PlanHome();
diff --git a/tests/unit/logic/load_filament/test_load_filament.cpp b/tests/unit/logic/load_filament/test_load_filament.cpp
index 951fd33..3927a22 100644
--- a/tests/unit/logic/load_filament/test_load_filament.cpp
+++ b/tests/unit/logic/load_filament/test_load_filament.cpp
@@ -385,10 +385,31 @@ TEST_CASE("load_filament::unlimited_load_manual_stop", "[load_filament]") {
 
 void LoadFilamentAlreadyPresentFilament(uint8_t slot, logic::LoadFilament &lf) {
     //one of the first steps of the state machine should pick up the fact that FINDA is on and transfer into the retracting phase
+    // Note that this will also trigger a FINDA FLICKERS error
     REQUIRE(WhileTopState(lf, ProgressCode::FeedingToFinda, 5000));
-    REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, slot, slot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::RetractingFromFinda));
-    REQUIRE(WhileCondition(lf, std::bind(SimulateRetractFromFINDA, _1, 100), 5000));
-    REQUIRE(WhileTopState(lf, ProgressCode::RetractingFromFinda, 5000));
+
+    REQUIRE(mf::finda.Pressed());
+    REQUIRE((int)mg::globals.FilamentLoaded() == (int)mg::FilamentLoadState::AtPulley);
+    REQUIRE(mm::PulleyEnabled() == false);
+    REQUIRE(ml::leds.Mode(slot, ml::green) == ml::off);
+    REQUIRE(ml::leds.Mode(slot, ml::red) == ml::blink0);
+    REQUIRE(lf.Error() == ErrorCode::RUNNING);
+    REQUIRE(lf.TopLevelState() == ProgressCode::ERRDisengagingIdler);
+
+    SimulateErrDisengagingIdler(lf, ErrorCode::FINDA_FLICKERS);
+    REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, true, false, ml::off, ml::blink0, ErrorCode::FINDA_FLICKERS, ProgressCode::ERRWaitingForUser));
+
+    // Let's resolve the error
+    SetFINDAStateAndDebounce(false);
+
+    // Press middle button to resolve error
+    PressButtonAndDebounce(lf, mb::Middle, true);
+
+    // Re-home idler and selector
+    REQUIRE_FALSE(mi::idler.HomingValid());
+    REQUIRE_FALSE(ms::selector.HomingValid());
+    SimulateIdlerAndSelectorHoming(lf); // failed load to FINDA = nothing blocking the selector - it can rehome
+
     REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, slot, slot, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
     // make FINDA switch on again
     REQUIRE(WhileCondition(lf, std::bind(SimulateFeedToFINDA, _1, 100), 5000));