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Verify and fix Tool Change state machine + unit tests

pull/40/head
D.R.racer 2021-06-30 14:28:29 +02:00 committed by DRracer
parent e2ec745286
commit 75fe7b20b5
1 changed files with 52 additions and 12 deletions
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64
tests/unit/logic/tool_change/test_tool_change.cpp
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@ -27,23 +27,63 @@ namespace mb = modules::buttons;
namespace mg = modules::globals; namespace mg = modules::globals;
namespace ms = modules::selector; namespace ms = modules::selector;
TEST_CASE("tool_change::test0", "[tool_change]") { void ToolChange(uint8_t fromSlot, uint8_t toSlot) {
using namespace logic;
ForceReinitAllAutomata(); ForceReinitAllAutomata();
ToolChange tc; logic::ToolChange tc;
EnsureActiveSlotIndex(fromSlot);
// restart the automaton // restart the automaton
tc.Reset(0); tc.Reset(toSlot);
main_loop(); REQUIRE(WhileCondition(
tc,
[&](int step) -> bool {
if(step == 2000){ // on 2000th step make FINDA trigger
hal::adc::SetADC(1, 0);
}
return tc.TopLevelState() == ProgressCode::UnloadingFilament; },
50000));
REQUIRE(mg::globals.FilamentLoaded() == false);
REQUIRE(WhileTopState(tc, ProgressCode::UnloadingFilament, 5000)); REQUIRE(WhileCondition(
REQUIRE(modules::globals::globals.FilamentLoaded() == false); tc,
[&](int step) -> bool {
REQUIRE(tc.TopLevelState() == ProgressCode::LoadingFilament); if(step == 1000){ // on 1000th step make FINDA trigger
REQUIRE(WhileTopState(tc, ProgressCode::LoadingFilament, 5000)); hal::adc::SetADC(1, 900);
}
return tc.TopLevelState() == ProgressCode::LoadingFilament; },
50000));
REQUIRE(tc.TopLevelState() == ProgressCode::OK); REQUIRE(tc.TopLevelState() == ProgressCode::OK);
REQUIRE(modules::globals::globals.FilamentLoaded() == true); REQUIRE(mg::globals.FilamentLoaded() == true);
REQUIRE(mg::globals.ActiveSlot() == toSlot);
}
void NoToolChange(uint8_t fromSlot, uint8_t toSlot) {
ForceReinitAllAutomata();
logic::ToolChange tc;
EnsureActiveSlotIndex(fromSlot);
// restart the automaton
tc.Reset(toSlot);
// should not do anything
REQUIRE(tc.TopLevelState() == ProgressCode::OK);
REQUIRE(tc.Error() == ErrorCode::OK);
}
TEST_CASE("tool_change::test0", "[tool_change]") {
for (uint8_t fromSlot = 0; fromSlot < 5; ++fromSlot) {
for (uint8_t toSlot = 0; toSlot < 5; ++toSlot) {
if (fromSlot != toSlot) {
ToolChange(fromSlot, toSlot);
} else {
NoToolChange(fromSlot, toSlot);
}
}
}
} }