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Fix: make sure VerifyEnvironmentState checks filamentLoaded reliably 

... and improve unit tests
pull/251/head
D.R.racer 2022-12-19 15:44:42 +01:00
parent 964ef0ce3d
commit 7d522f6837
2 changed files with 29 additions and 7 deletions
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5
tests/unit/logic/helpers/helpers.ipp
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@ -91,8 +91,9 @@ template<typename SM>
bool VerifyState(SM &uf, mg::FilamentLoadState fls, uint8_t idlerSlotIndex, uint8_t selectorSlotIndex,
bool findaPressed, bool pulleyEnabled, ml::Mode greenLEDMode, ml::Mode redLEDMode, ErrorCode err, ProgressCode topLevelProgress) {
VerifyEnvironmentState(fls, idlerSlotIndex, selectorSlotIndex, findaPressed, pulleyEnabled, greenLEDMode, redLEDMode);
CHECKED_ELSE(VerifyEnvironmentState(fls, idlerSlotIndex, selectorSlotIndex, findaPressed, pulleyEnabled, greenLEDMode, redLEDMode)){
return false;
}
CHECKED_ELSE(uf.Error() == err) {
return false;
}

31
tests/unit/logic/tool_change/test_tool_change.cpp
View File

@ -248,7 +248,20 @@ void ToolChangeFailLoadToFindaMiddleBtn(logic::ToolChange &tc, uint8_t toSlot) {
REQUIRE_FALSE(ms::selector.HomingValid());
SimulateIdlerAndSelectorHoming(tc); // failed load to FINDA = nothing blocking the selector - it can rehome
REQUIRE(VerifyState(tc, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), toSlot, false, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
// @@TODO here is nasty disrepancy - FINDA is not pressed, but we pretend to have something in the Selector.
//
// 3 scenarios could have caused this:
// 1. MMU was really unable to pick the filament piece and really failed to push anything into the Selector/FINDA
// 2. MMU was able to pick a piece and managed to push it into the Selector, but not far enough to press FINDA
// 3. FINDA is miscalibrated/defective and we have no idea that a piece of filament occurred below FINDA
//
// Scenarios 2 and 3 will cause serious problems, because the Selector is trying to rehome after "Retry"
// I.e. FINDA state does not correspond to mg::globals::filamentLoaded (which is allowed and expected, but dangerous)
//
// Therefore we temporarily allow both AtPulley and InSelector.
REQUIRE(VerifyState(tc,
(mg::FilamentLoadState)(mg::FilamentLoadState::AtPulley | mg::FilamentLoadState::InSelector),
mi::Idler::IdleSlotIndex(), toSlot, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
ClearButtons(tc);
@ -454,7 +467,15 @@ void ToolChangeWithFlickeringFINDA(logic::ToolChange &tc, uint8_t fromSlot, uint
main_loop();
tc.Step();
REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, toSlot, toSlot, false, true, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRDisengagingIdler));
// Here is a similar problem like in ToolChangeFailLoadToFindaMiddleBtn:
// FINDA state doesn't correspond to mg::globals.filamentLoaded, but in this case it is correct.
// The previous unload finished correctly but FINDA flickers - that means filament tip is expected
// to be AtPulley and not blocking the Selector.
//
// @@TODO however - red LED is probably not blinking on the correct slot. We are still standing on fromSlot
// while red LED will blink on toSlot.
// Atm this is not easy to change without some nontrivial changes to GoToErrDisengagingIdler()
REQUIRE(VerifyState2(tc, mg::FilamentLoadState::AtPulley, mi::idler.IdleSlotIndex(), fromSlot, true, false, toSlot, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRDisengagingIdler));
SimulateErrDisengagingIdler(tc, ErrorCode::FINDA_FLICKERS); // this should be a single step, Idler should remain disengaged due to previous error
// now we have 2 options what can happen:
@ -463,14 +484,14 @@ void ToolChangeWithFlickeringFINDA(logic::ToolChange &tc, uint8_t fromSlot, uint
if (keepFindaPressed) {
// now waiting for user input
REQUIRE_FALSE(mui::userInput.AnyEvent());
REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, toSlot, toSlot, false, true, ml::off, ml::blink0, ErrorCode::FINDA_FLICKERS, ProgressCode::ERRWaitingForUser));
REQUIRE(VerifyState2(tc, mg::FilamentLoadState::AtPulley, mi::idler.IdleSlotIndex(), fromSlot, true, false, toSlot, ml::off, ml::blink0, ErrorCode::FINDA_FLICKERS, ProgressCode::ERRWaitingForUser));
PressButtonAndDebounce(tc, mb::Middle, true);
// we should remain in the same error state
REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, toSlot, toSlot, false, true, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRDisengagingIdler));
REQUIRE(VerifyState2(tc, mg::FilamentLoadState::AtPulley, mi::idler.IdleSlotIndex(), fromSlot, true, false, toSlot, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRDisengagingIdler));
// Idler will try to rehome, allow it
SimulateIdlerHoming(tc);
REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, toSlot, toSlot, false, true, ml::off, ml::blink0, ErrorCode::FINDA_FLICKERS, ProgressCode::ERRWaitingForUser));
REQUIRE(VerifyState2(tc, mg::FilamentLoadState::AtPulley, mi::idler.IdleSlotIndex(), fromSlot, true, false, toSlot, ml::off, ml::blink0, ErrorCode::FINDA_FLICKERS, ProgressCode::ERRWaitingForUser));
// now "fix" FINDA and the command shall finish correctly
SetFINDAStateAndDebounce(false);