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Fix reporting progress of running commands 

The problem was the error state while running a command - we never used the RUNNING error state.
pull/112/head
D.R.racer 2021-08-26 13:50:35 +02:00 committed by DRracer
parent b4d4807971
commit 74629f0103
9 changed files with 34 additions and 29 deletions
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8
src/logic/command_base.cpp
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@ -11,7 +11,7 @@ inline ErrorCode &operator|=(ErrorCode &a, ErrorCode b) {
}
static ErrorCode TMC2130ToErrorCode(const hal::tmc2130::TMC2130 &tmc, uint8_t tmcIndex) {
ErrorCode e = ErrorCode::OK;
ErrorCode e = ErrorCode::RUNNING;
if (tmc.GetErrorFlags().reset_flag) {
e |= ErrorCode::TMC_RESET;
@ -29,7 +29,7 @@ static ErrorCode TMC2130ToErrorCode(const hal::tmc2130::TMC2130 &tmc, uint8_t tm
e |= ErrorCode::TMC_OVER_TEMPERATURE_ERROR;
}
if (e != ErrorCode::OK) {
if (e != ErrorCode::RUNNING) {
switch (tmcIndex) {
case config::Axis::Pulley:
e |= ErrorCode::TMC_PULLEY_BIT;
@ -49,7 +49,7 @@ static ErrorCode TMC2130ToErrorCode(const hal::tmc2130::TMC2130 &tmc, uint8_t tm
}
bool CommandBase::Step() {
ErrorCode tmcErr = ErrorCode::OK;
ErrorCode tmcErr = ErrorCode::RUNNING;
// check the global HW errors - may be we should avoid the modules layer and check for the HAL layer errors directly
if (mi::idler.State() == mi::Idler::Failed) {
state = ProgressCode::ERRTMCFailed;
@ -69,7 +69,7 @@ bool CommandBase::Step() {
// @@TODO not sure how to prevent losing the previously accumulated error ... or do I really need to do it?
// May be the TMC error word just gets updated with new flags as the motion proceeds
// And how about the logical errors like FINDA_DIDNT_SWITCH_ON?
if (tmcErr != ErrorCode::OK) {
if (tmcErr != ErrorCode::RUNNING) {
error |= tmcErr;
return true;
}

3
src/logic/cut_filament.cpp
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@ -17,7 +17,7 @@ void CutFilament::Reset(uint8_t param) {
return;
}
error = ErrorCode::OK;
error = ErrorCode::RUNNING;
cutSlot = param;
if (mg::globals.FilamentLoaded()) {
@ -90,6 +90,7 @@ bool CutFilament::StepInner() {
case ProgressCode::ReturningSelector:
if (ms::selector.Slot() == 5) { // selector returned to position, feed the filament back to FINDA
state = ProgressCode::OK;
error = ErrorCode::OK;
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
feed.Reset(true);

3
src/logic/eject_filament.cpp
View File

@ -17,7 +17,7 @@ void EjectFilament::Reset(uint8_t param) {
return;
}
error = ErrorCode::OK;
error = ErrorCode::RUNNING;
slot = param;
if (mg::globals.FilamentLoaded()) {
@ -62,6 +62,7 @@ bool EjectFilament::StepInner() {
if (!mi::idler.Engaged()) { // idler disengaged
mm::motion.Disable(mm::Pulley);
state = ProgressCode::OK;
error = ErrorCode::OK;
}
break;
case ProgressCode::OK:

5
src/logic/load_filament.cpp
View File

@ -18,7 +18,7 @@ void LoadFilament::Reset(uint8_t param) {
}
state = ProgressCode::EngagingIdler;
error = ErrorCode::OK;
error = ErrorCode::RUNNING;
mg::globals.SetActiveSlot(param);
mi::idler.Engage(mg::globals.ActiveSlot());
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
@ -63,6 +63,7 @@ bool LoadFilament::StepInner() {
case ProgressCode::DisengagingIdler:
if (!mi::idler.Engaged()) {
state = ProgressCode::OK;
error = ErrorCode::OK;
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
mg::globals.SetFilamentLoaded(true);
@ -108,7 +109,7 @@ bool LoadFilament::StepInner() {
if (mf::finda.Pressed()) {
// the help was enough to press the FINDA, we are ok, continue normally
state = ProgressCode::FeedingToBondtech;
error = ErrorCode::OK;
error = ErrorCode::RUNNING;
} else if (mm::motion.QueueEmpty()) {
// helped a bit, but FINDA didn't trigger, return to the main error state
state = ProgressCode::ERRDisengagingIdler;

1
src/logic/tool_change.cpp
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@ -48,6 +48,7 @@ bool ToolChange::StepInner() {
// as LoadFilament should handle all the possible error states on its own
// There is no way the LoadFilament to finish in an error state
state = ProgressCode::OK;
error = ErrorCode::OK;
}
break;
case ProgressCode::OK:

5
src/logic/unload_filament.cpp
View File

@ -15,7 +15,7 @@ void UnloadFilament::Reset(uint8_t /*param*/) {
// unloads filament from extruder - filament is above Bondtech gears
mm::motion.InitAxis(mm::Pulley);
state = ProgressCode::UnloadingToFinda;
error = ErrorCode::OK;
error = ErrorCode::RUNNING;
unl.Reset(maxRetries);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
@ -56,6 +56,7 @@ bool UnloadFilament::StepInner() {
case ProgressCode::FinishingMoves:
if (mm::motion.QueueEmpty()) {
state = ProgressCode::OK;
error = ErrorCode::OK;
mm::motion.Disable(mm::Pulley);
mg::globals.SetFilamentLoaded(false); // filament unloaded
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
@ -99,7 +100,7 @@ bool UnloadFilament::StepInner() {
if (!mf::finda.Pressed()) {
// the help was enough to depress the FINDA, we are ok, continue normally
state = ProgressCode::DisengagingIdler;
error = ErrorCode::OK;
error = ErrorCode::RUNNING;
} else if (mm::motion.QueueEmpty()) {
// helped a bit, but FINDA didn't trigger, return to the main error state
state = ProgressCode::ERRDisengagingIdler;

14
tests/unit/logic/cut_filament/test_cut_filament.cpp
View File

@ -33,14 +33,14 @@ void CutSlot(logic::CutFilament &cf, uint8_t cutSlot) {
cf.Reset(cutSlot);
// check initial conditions
REQUIRE(VerifyState(cf, false, mi::Idler::IdleSlotIndex(), cutSlot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::SelectingFilamentSlot));
REQUIRE(VerifyState(cf, false, mi::Idler::IdleSlotIndex(), cutSlot, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::SelectingFilamentSlot));
// now cycle at most some number of cycles (to be determined yet) and then verify, that the idler and selector reached their target positions
// Beware - with the real positions of the selector, the number of steps needed to finish some states grows, so the ~40K steps here has a reason
REQUIRE(WhileTopState(cf, ProgressCode::SelectingFilamentSlot, selectorMoveMaxSteps));
// idler and selector reached their target positions and the CF automaton will start feeding to FINDA as the next step
REQUIRE(VerifyState(cf, false, cutSlot, cutSlot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::FeedingToFinda));
REQUIRE(VerifyState(cf, false, cutSlot, cutSlot, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
// prepare for simulated finda trigger
REQUIRE(WhileCondition(
@ -54,7 +54,7 @@ void CutSlot(logic::CutFilament &cf, uint8_t cutSlot) {
// filament fed to FINDA
//@@TODO filament loaded flag - decide whether the filament loaded flag means really loaded into the printer or just a piece of filament
// stuck out of the pulley to prevent movement of the selector
REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, cutSlot, true, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::UnloadingToPulley));
REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, cutSlot, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToPulley));
// pull it back to the pulley + simulate FINDA depress
REQUIRE(WhileCondition(
@ -65,19 +65,19 @@ void CutSlot(logic::CutFilament &cf, uint8_t cutSlot) {
}
return cf.TopLevelState() == ProgressCode::UnloadingToPulley; }, 5000));
REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, cutSlot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::PreparingBlade));
REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, cutSlot, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::PreparingBlade));
// now move the selector aside, prepare for cutting
REQUIRE(WhileTopState(cf, ProgressCode::PreparingBlade, 5000));
REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, cutSlot + 1, false, cutSlot, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::PushingFilament));
REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, cutSlot + 1, false, cutSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::PushingFilament));
// pushing filament a bit for a cut
REQUIRE(WhileTopState(cf, ProgressCode::PushingFilament, 5000));
REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, cutSlot + 1, false, cutSlot, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::PerformingCut));
REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, cutSlot + 1, false, cutSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::PerformingCut));
// cutting
REQUIRE(WhileTopState(cf, ProgressCode::PerformingCut, selectorMoveMaxSteps));
REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, 0, false, cutSlot, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::ReturningSelector));
REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, 0, false, cutSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::ReturningSelector));
// moving selector to the other end of its axis
REQUIRE(WhileTopState(cf, ProgressCode::ReturningSelector, selectorMoveMaxSteps));

10
tests/unit/logic/load_filament/test_load_filament.cpp
View File

@ -39,11 +39,11 @@ void LoadFilamentCommonSetup(uint8_t slot, logic::LoadFilament &lf) {
// no change in selector's position
// FINDA off
// green LED should blink, red off
REQUIRE(VerifyState(lf, false, mi::Idler::IdleSlotIndex(), slot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::EngagingIdler));
REQUIRE(VerifyState(lf, false, mi::Idler::IdleSlotIndex(), slot, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::EngagingIdler));
// Stage 1 - engaging idler
REQUIRE(WhileTopState(lf, ProgressCode::EngagingIdler, idlerEngageDisengageMaxSteps));
REQUIRE(VerifyState(lf, false, slot, slot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::FeedingToFinda));
REQUIRE(VerifyState(lf, false, slot, slot, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
}
void LoadFilamentSuccessful(uint8_t slot, logic::LoadFilament &lf) {
@ -57,7 +57,7 @@ void LoadFilamentSuccessful(uint8_t slot, logic::LoadFilament &lf) {
}
return lf.TopLevelState() == ProgressCode::FeedingToFinda; },
5000));
REQUIRE(VerifyState(lf, false, slot, slot, true, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::FeedingToBondtech));
REQUIRE(VerifyState(lf, false, slot, slot, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToBondtech));
// Stage 3 - feeding to bondtech
// we'll make a fsensor switch during the process
@ -69,7 +69,7 @@ void LoadFilamentSuccessful(uint8_t slot, logic::LoadFilament &lf) {
}
return lf.TopLevelState() == ProgressCode::FeedingToBondtech; },
5000));
REQUIRE(VerifyState(lf, false, slot, slot, true, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::DisengagingIdler));
REQUIRE(VerifyState(lf, false, slot, slot, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::DisengagingIdler));
// Stage 4 - disengaging idler
REQUIRE(WhileTopState(lf, ProgressCode::DisengagingIdler, idlerEngageDisengageMaxSteps));
@ -130,7 +130,7 @@ void FailedLoadToFindaResolveHelpFindaTriggered(uint8_t slot, logic::LoadFilamen
return lf.TopLevelState() == ProgressCode::ERRHelpingFilament; },
5000));
REQUIRE(VerifyState(lf, false, slot, slot, true, ml::off, ml::blink0, ErrorCode::OK, ProgressCode::FeedingToBondtech));
REQUIRE(VerifyState(lf, false, slot, slot, true, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::FeedingToBondtech));
}
void FailedLoadToFindaResolveHelpFindaDidntTrigger(uint8_t slot, logic::LoadFilament &lf) {

14
tests/unit/logic/unload_filament/test_unload_filament.cpp
View File

@ -47,7 +47,7 @@ void RegularUnloadFromSlot04(uint8_t slot, logic::UnloadFilament &uf) {
// no change in selector's position
// FINDA on
// green LED should blink, red off
REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), slot, true, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::UnloadingToFinda));
REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), slot, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
// run the automaton
// Stage 1 - unloading to FINDA
@ -65,7 +65,7 @@ void RegularUnloadFromSlot04(uint8_t slot, logic::UnloadFilament &uf) {
// no change in selector's position
// FINDA triggered off
// green LED should blink
REQUIRE(VerifyState(uf, true, slot, slot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::DisengagingIdler));
REQUIRE(VerifyState(uf, true, slot, slot, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::DisengagingIdler));
// Stage 2 - idler was engaged, disengage it
REQUIRE(WhileTopState(uf, ProgressCode::DisengagingIdler, idlerEngageDisengageMaxSteps));
@ -75,7 +75,7 @@ void RegularUnloadFromSlot04(uint8_t slot, logic::UnloadFilament &uf) {
// no change in selector's position
// FINDA still triggered off
// green LED should blink
REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), slot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::AvoidingGrind));
REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), slot, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::AvoidingGrind));
// Stage 3 - avoiding grind (whatever is that @@TODO)
REQUIRE(WhileTopState(uf, ProgressCode::AvoidingGrind, 5000));
@ -85,7 +85,7 @@ void RegularUnloadFromSlot04(uint8_t slot, logic::UnloadFilament &uf) {
// no change in selector's position
// FINDA still triggered off
// green LED should blink
REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), slot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::FinishingMoves));
REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), slot, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FinishingMoves));
// Stage 4 - finishing moves and setting global state correctly
REQUIRE(WhileTopState(uf, ProgressCode::FinishingMoves, 5000));
@ -138,7 +138,7 @@ void FindaDidntTriggerCommonSetup(uint8_t slot, logic::UnloadFilament &uf) {
// FINDA triggered off
// green LED should blink
// no error so far
REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), slot, true, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::UnloadingToFinda));
REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), slot, 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
@ -215,7 +215,7 @@ void FindaDidntTriggerResolveHelpFindaTriggered(uint8_t slot, logic::UnloadFilam
// no change in selector's position
// FINDA depressed
// red LED should blink, green LED should be off
REQUIRE(VerifyState(uf, true, slot, slot, false, ml::off, ml::blink0, ErrorCode::OK, ProgressCode::DisengagingIdler));
REQUIRE(VerifyState(uf, true, slot, slot, false, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::DisengagingIdler));
}
void FindaDidntTriggerResolveHelpFindaDidntTrigger(uint8_t slot, logic::UnloadFilament &uf) {
@ -270,7 +270,7 @@ 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, true, mi::Idler::IdleSlotIndex(), slot, true, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::UnloadingToFinda));
REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), slot, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
}
TEST_CASE("unload_filament::finda_didnt_trigger_resolve_try_again", "[unload_filament]") {