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Fix homing error recovery + add homing unit tests

pull/154/head
D.R.racer 2022-01-31 08:09:57 +01:00 committed by DRracer
parent 4d9d310f00
commit 7fbd3c9c7e
7 changed files with 205 additions and 5 deletions
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3
src/logic/command_base.cpp
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@ -90,8 +90,9 @@ bool CommandBase::WaitForOneModuleErrorRecovery(ErrorCode ec, modules::motion::M
// homing can be recovered
mui::Event ev = mui::userInput.ConsumeEvent();
if (ev == mui::Event::Middle) {
m.InvalidateHoming(); // @@TODO invalidate and force initiate a new homing attempt
m.PlanHome(); // force initiate a new homing attempt
state = ProgressCode::Homing;
error = ErrorCode::RUNNING;
}
}
// TMC errors cannot be recovered safely, waiting for power cycling the MMU

2
src/modules/movable_base.cpp
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@ -7,6 +7,8 @@ namespace modules {
namespace motion {
void MovableBase::PlanHome() {
InvalidateHoming();
// switch to normal mode on this axis
mm::motion.InitAxis(axis);
mm::motion.SetMode(axis, mm::Normal);

6
src/modules/movable_base.h
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@ -59,6 +59,9 @@ public:
/// (which makes homing completely transparent)
inline void InvalidateHoming() { homingValid = false; }
/// Prepare a homing move of the axis
void PlanHome();
inline bool HomingValid() const { return homingValid; }
inline config::Axis Axis() const { return axis; }
@ -92,9 +95,6 @@ protected:
OperationResult InitMovement();
/// Prepare a homing move of the axis
void PlanHome();
void PerformMove();
void PerformHomeForward();

2
tests/unit/logic/CMakeLists.txt
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@ -1,5 +1,7 @@
add_subdirectory(cut_filament)
add_subdirectory(homing)
add_subdirectory(feed_to_finda)
add_subdirectory(feed_to_bondtech)

2
tests/unit/logic/helpers/helpers.ipp
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@ -149,6 +149,6 @@ void PressButtonAndDebounce(SM &sm, uint8_t btnIndex){
hal::adc::SetADC(config::buttonsADCIndex, config::buttonADCLimits[btnIndex][0] + 1);
while (!mb::buttons.ButtonPressed(btnIndex)) {
main_loop();
sm.StepInner();
sm.Step(); // Inner
}
}

42
tests/unit/logic/homing/CMakeLists.txt Normal file
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@ -0,0 +1,42 @@
# define the test executable
add_executable(
homing_tests
${CMAKE_SOURCE_DIR}/src/logic/command_base.cpp
${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
${CMAKE_SOURCE_DIR}/src/logic/home.cpp
${CMAKE_SOURCE_DIR}/src/logic/load_filament.cpp
${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
${CMAKE_SOURCE_DIR}/src/modules/debouncer.cpp
${CMAKE_SOURCE_DIR}/src/modules/finda.cpp
${CMAKE_SOURCE_DIR}/src/modules/fsensor.cpp
${CMAKE_SOURCE_DIR}/src/modules/globals.cpp
${CMAKE_SOURCE_DIR}/src/modules/idler.cpp
${CMAKE_SOURCE_DIR}/src/modules/leds.cpp
${CMAKE_SOURCE_DIR}/src/modules/movable_base.cpp
${CMAKE_SOURCE_DIR}/src/modules/permanent_storage.cpp
${CMAKE_SOURCE_DIR}/src/modules/pulley.cpp
${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
${MODULES_STUBS_DIR}/stub_adc.cpp
${MODULES_STUBS_DIR}/stub_eeprom.cpp
${MODULES_STUBS_DIR}/stub_gpio.cpp
${MODULES_STUBS_DIR}/stub_shr16.cpp
${MODULES_STUBS_DIR}/stub_timebase.cpp
${MODULES_STUBS_DIR}/stub_tmc2130.cpp
${LOGIC_STUBS_DIR}/main_loop_stub.cpp
${LOGIC_STUBS_DIR}/stub_motion.cpp
test_homing.cpp
)
# define required search paths
target_include_directories(
homing_tests PUBLIC ${CMAKE_SOURCE_DIR}/src/modules ${CMAKE_SOURCE_DIR}/src/hal
${CMAKE_SOURCE_DIR}/src/logic
)
# tell build system about the test case
add_catch_test(homing_tests)

153
tests/unit/logic/homing/test_homing.cpp Normal file
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@ -0,0 +1,153 @@
#include "catch2/catch.hpp"
#include "../../../../src/modules/buttons.h"
#include "../../../../src/modules/finda.h"
#include "../../../../src/modules/fsensor.h"
#include "../../../../src/modules/globals.h"
#include "../../../../src/modules/idler.h"
#include "../../../../src/modules/leds.h"
#include "../../../../src/modules/motion.h"
#include "../../../../src/modules/permanent_storage.h"
#include "../../../../src/modules/selector.h"
#include "../../../../src/logic/home.h"
#include "../../../../src/logic/load_filament.h"
#include "../../../../src/logic/unload_filament.h"
#include "../../modules/stubs/stub_adc.h"
#include "../stubs/main_loop_stub.h"
#include "../stubs/stub_motion.h"
using Catch::Matchers::Equals;
#include "../helpers/helpers.ipp"
bool SuccessfulHome(uint8_t slot) {
// prepare startup conditions
ForceReinitAllAutomata();
// change the startup to what we need here
EnsureActiveSlotIndex(slot, mg::FilamentLoadState::AtPulley);
// set FINDA OFF + debounce
SetFINDAStateAndDebounce(false);
logic::Home h;
REQUIRE(VerifyState(h, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
h.Reset(0);
REQUIRE(VerifyState(h, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::Homing));
REQUIRE_FALSE(mi::idler.HomingValid());
REQUIRE_FALSE(ms::selector.HomingValid());
SimulateIdlerAndSelectorHoming();
REQUIRE(WhileTopState(h, ProgressCode::Homing, 5000));
REQUIRE(VerifyState(h, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
REQUIRE(mi::idler.HomingValid());
REQUIRE(ms::selector.HomingValid());
return true;
}
TEST_CASE("homing::successful_run", "[homing]") {
for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
REQUIRE(SuccessfulHome(slot));
}
}
bool SelectorFailedRetry() {
// prepare startup conditions
ForceReinitAllAutomata();
// change the startup to what we need here
EnsureActiveSlotIndex(0, mg::FilamentLoadState::AtPulley);
// set FINDA OFF + debounce
SetFINDAStateAndDebounce(false);
logic::Home h;
REQUIRE(VerifyState(h, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), 0, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
h.Reset(0);
REQUIRE(VerifyState(h, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), 0, false, false, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::Homing));
REQUIRE_FALSE(mi::idler.HomingValid());
REQUIRE_FALSE(ms::selector.HomingValid());
{
// do 5 steps until we trigger the simulated stallguard
for (uint8_t i = 0; i < 5; ++i) {
main_loop();
}
mm::TriggerStallGuard(mm::Selector);
mm::TriggerStallGuard(mm::Idler);
main_loop();
mm::motion.StallGuardReset(mm::Selector);
mm::motion.StallGuardReset(mm::Idler);
}
// now do a correct amount of steps of each axis towards the other end
uint32_t idlerSteps = mm::unitToSteps<mm::I_pos_t>(config::idlerLimits.lenght);
// now do LESS steps than expected to simulate something is blocking the selector
uint32_t selectorSteps = mm::unitToSteps<mm::S_pos_t>(config::selectorLimits.lenght) + 1;
uint32_t selectorTriggerShort = std::min(idlerSteps, selectorSteps) / 2;
uint32_t maxSteps = selectorTriggerShort + 1;
{
for (uint32_t i = 0; i < maxSteps; ++i) {
main_loop();
if (i == selectorTriggerShort) {
mm::TriggerStallGuard(mm::Selector);
} else {
mm::motion.StallGuardReset(mm::Selector);
}
}
// make sure the Idler finishes its homing procedure (makes further checks much easier)
for (uint32_t i = maxSteps; i < idlerSteps + 1; ++i) {
main_loop();
if (i == idlerSteps) {
mm::TriggerStallGuard(mm::Idler);
} else {
mm::motion.StallGuardReset(mm::Idler);
}
}
// now the Selector shall perform a move into their parking positions
while (ms::selector.State() != mm::MovableBase::HomingFailed)
main_loop();
}
REQUIRE(WhileTopState(h, ProgressCode::Homing, 5));
REQUIRE(mi::idler.HomingValid());
// cannot check the whole environment easily, the selector's and idler's positions are elsewhere
REQUIRE(h.Error() == ErrorCode::HOMING_SELECTOR_FAILED);
REQUIRE(h.State() == ProgressCode::ERRWaitingForUser);
// do a few steps before pushing the button
WhileTopState(h, ProgressCode::ERRWaitingForUser, 5);
PressButtonAndDebounce(h, mb::Middle);
// it shall start homing again
REQUIRE(h.Error() == ErrorCode::RUNNING);
REQUIRE(h.State() == ProgressCode::Homing);
REQUIRE_FALSE(ms::selector.HomingValid());
SimulateSelectorHoming();
REQUIRE(WhileTopState(h, ProgressCode::Homing, 5000));
REQUIRE(VerifyState(h, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), 0, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
REQUIRE(mi::idler.HomingValid());
REQUIRE(ms::selector.HomingValid());
return true;
}
TEST_CASE("homing::selector_failed_retry", "[homing]") {
REQUIRE(SelectorFailedRetry());
}