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Add prototypes of remaining logic layer's unit tests 

- load filament
- feed to bondtech
- tool change
pull/37/head
D.R.racer 2021-06-21 11:07:08 +02:00 committed by DRracer
parent 151b8c2586
commit 807eda7db3
7 changed files with 366 additions and 5 deletions
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8
tests/unit/logic/CMakeLists.txt
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@ -2,16 +2,14 @@ add_subdirectory(cut_filament)
add_subdirectory(feed_to_finda) add_subdirectory(feed_to_finda)
# add_subdirectory(feed_to_bondtech) add_subdirectory(feed_to_bondtech)
add_subdirectory(unload_to_finda) add_subdirectory(unload_to_finda)
add_subdirectory(eject_filament) add_subdirectory(eject_filament)
# add_subdirectory(load_filament) add_subdirectory(load_filament)
# add_subdirectory(tool_change) add_subdirectory(tool_change)
# add_subdirectory(cut_filament)
add_subdirectory(unload_filament) add_subdirectory(unload_filament)

30
tests/unit/logic/feed_to_bondtech/CMakeLists.txt Normal file
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@ -0,0 +1,30 @@
# define the test executable
add_executable(
feed_to_bondtech_tests
../../../../src/logic/feed_to_bondtech.cpp
../../../../src/modules/buttons.cpp
../../../../src/modules/debouncer.cpp
../../../../src/modules/finda.cpp
../../../../src/modules/fsensor.cpp
../../../../src/modules/globals.cpp
../../../../src/modules/idler.cpp
../../../../src/modules/leds.cpp
../../../../src/modules/permanent_storage.cpp
../../../../src/modules/selector.cpp
../../modules/stubs/stub_adc.cpp
../../modules/stubs/stub_eeprom.cpp
../../modules/stubs/stub_shr16.cpp
../../modules/stubs/stub_timebase.cpp
../stubs/main_loop_stub.cpp
../stubs/stub_motion.cpp
test_feed_to_bondtech.cpp
)
# define required search paths
target_include_directories(
feed_to_bondtech_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(feed_to_bondtech_tests)

154
tests/unit/logic/feed_to_bondtech/test_feed_to_bondtech.cpp Normal file
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@ -0,0 +1,154 @@
#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/feed_to_bondtech.h"
#include "../../modules/stubs/stub_adc.h"
#include "../stubs/main_loop_stub.h"
#include "../stubs/stub_motion.h"
using Catch::Matchers::Equals;
namespace mm = modules::motion;
namespace mf = modules::finda;
namespace mi = modules::idler;
namespace ml = modules::leds;
namespace mb = modules::buttons;
namespace mg = modules::globals;
namespace ms = modules::selector;
namespace ha = hal::adc;
template <typename COND>
bool WhileCondition(logic::FeedToBondtech &ff, COND cond, uint32_t maxLoops = 5000) {
while (cond() && --maxLoops) {
main_loop();
ff.Step();
}
return maxLoops > 0;
}
TEST_CASE("feed_to_finda::feed_phase_unlimited", "[feed_to_finda]") {
using namespace logic;
ForceReinitAllAutomata();
FeedToBondtech fb;
main_loop();
// restart the automaton
fb.Reset(false);
// REQUIRE(ff.State() == FeedToBondtech::EngagingIdler);
// // it should have instructed the selector and idler to move to slot 1
// // check if the idler and selector have the right command
// CHECK(mm::axes[mm::Idler].targetPos == mi::Idler::SlotPosition(0));
// CHECK(mm::axes[mm::Selector].targetPos == ms::Selector::SlotPosition(0));
// CHECK(mm::axes[mm::Idler].enabled == true);
// // engaging idler
// REQUIRE(WhileCondition(
// ff,
// [&]() { return !mi::idler.Engaged(); },
// 5000));
// CHECK(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(0));
// CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0));
// // idler engaged, selector in position, we'll start pushing filament
// REQUIRE(ff.State() == FeedToBondtech::PushingFilament);
// // at least at the beginning the LED should shine green (it should be blinking, but this mode has been already verified in the LED's unit test)
// REQUIRE(ml::leds.LedOn(mg::globals.ActiveSlot(), ml::Color::green));
// // now let the filament be pushed into the FINDA - do 500 steps without triggering the condition
// // and then let the simulated ADC channel 1 create a FINDA switch
// ha::ReinitADC(1, ha::TADCData({ 600, 700, 800, 900 }), 1);
// REQUIRE(WhileCondition(
// ff,
// [&]() { return ff.State() == FeedToBondtech::PushingFilament; },
// 1500));
// // From now on the FINDA is reported as ON
// // unloading back to PTFE
// REQUIRE(ff.State() == FeedToBondtech::UnloadBackToPTFE);
// REQUIRE(WhileCondition(
// ff,
// [&]() { return ff.State() == FeedToBondtech::UnloadBackToPTFE; },
// 5000));
// // disengaging idler
// REQUIRE(ff.State() == FeedToBondtech::DisengagingIdler);
// REQUIRE(WhileCondition(
// ff,
// [&]() { return mi::idler.Engaged(); },
// 5000));
// CHECK(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(5)); // @@TODO constants
// CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0));
// // state machine finished ok, the green LED should be on
// REQUIRE(ff.State() == FeedToBondtech::OK);
// REQUIRE(ml::leds.LedOn(mg::globals.ActiveSlot(), ml::Color::green));
// REQUIRE(ff.Step() == true); // the automaton finished its work, any consecutive calls to Step must return true
//}
//TEST_CASE("feed_to_finda::FINDA_failed", "[feed_to_finda]") {
// using namespace logic;
// ForceReinitAllAutomata();
// FeedToBondtech ff;
// main_loop();
// // restart the automaton - we want the limited version of the feed
// ff.Reset(true);
// REQUIRE(ff.State() == FeedToBondtech::EngagingIdler);
// // it should have instructed the selector and idler to move to slot 1
// // check if the idler and selector have the right command
// CHECK(mm::axes[mm::Idler].targetPos == mi::Idler::SlotPosition(0));
// CHECK(mm::axes[mm::Selector].targetPos == ms::Selector::SlotPosition(0));
// // engaging idler
// REQUIRE(WhileCondition(
// ff,
// [&]() { return !mi::idler.Engaged(); },
// 5000));
// CHECK(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(0));
// CHECK(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(0));
// // idler engaged, we'll start pushing filament
// REQUIRE(ff.State() == FeedToBondtech::PushingFilament);
// // at least at the beginning the LED should shine green (it should be blinking, but this mode has been already verified in the LED's unit test)
// REQUIRE(ml::leds.Mode(mg::globals.ActiveSlot(), ml::Color::green) == ml::blink0);
// // now let the filament be pushed into the FINDA - but we make sure the FINDA doesn't trigger at all
// ha::ReinitADC(1, ha::TADCData({ 0 }), 100);
// REQUIRE(WhileCondition(
// ff, // boo, this formatting is UGLY!
// [&]() { return ff.State() == FeedToBondtech::PushingFilament; },
// 5000));
// // the FINDA didn't trigger, we should be in the Failed state
// REQUIRE(ff.State() == FeedToBondtech::Failed);
// REQUIRE(ml::leds.Mode(mg::globals.ActiveSlot(), ml::Color::green) == ml::off);
// REQUIRE(ml::leds.Mode(mg::globals.ActiveSlot(), ml::Color::red) == ml::blink0);
// REQUIRE(ff.Step() == true); // the automaton finished its work, any consecutive calls to Step must return true
}

32
tests/unit/logic/load_filament/CMakeLists.txt Normal file
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@ -0,0 +1,32 @@
# define the test executable
add_executable(
load_filament_tests
../../../../src/logic/feed_to_bondtech.cpp
../../../../src/logic/feed_to_finda.cpp
../../../../src/logic/load_filament.cpp
../../../../src/modules/buttons.cpp
../../../../src/modules/debouncer.cpp
../../../../src/modules/finda.cpp
../../../../src/modules/fsensor.cpp
../../../../src/modules/globals.cpp
../../../../src/modules/idler.cpp
../../../../src/modules/leds.cpp
../../../../src/modules/permanent_storage.cpp
../../../../src/modules/selector.cpp
../../modules/stubs/stub_adc.cpp
../../modules/stubs/stub_eeprom.cpp
../../modules/stubs/stub_shr16.cpp
../../modules/stubs/stub_timebase.cpp
../stubs/main_loop_stub.cpp
../stubs/stub_motion.cpp
test_load_filament.cpp
)
# define required search paths
target_include_directories(
load_filament_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(load_filament_tests)

56
tests/unit/logic/load_filament/test_load_filament.cpp Normal file
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@ -0,0 +1,56 @@
#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/load_filament.h"
#include "../../modules/stubs/stub_adc.h"
#include "../stubs/main_loop_stub.h"
#include "../stubs/stub_motion.h"
using Catch::Matchers::Equals;
namespace mm = modules::motion;
namespace mf = modules::finda;
namespace mi = modules::idler;
namespace ml = modules::leds;
namespace mb = modules::buttons;
namespace mg = modules::globals;
namespace ms = modules::selector;
TEST_CASE("unload_filament::unload0", "[unload_filament]") {
using namespace logic;
ForceReinitAllAutomata();
LoadFilament lf;
// restart the automaton
currentCommand = &lf;
lf.Reset(0);
main_loop();
// REQUIRE(WhileCondition([&]() { return uf.TopLevelState() == ProgressCode::UnloadingToFinda; }, 5000));
// REQUIRE(uf.TopLevelState() == ProgressCode::DisengagingIdler);
// REQUIRE(WhileCondition([&]() { return uf.TopLevelState() == ProgressCode::DisengagingIdler; }, 5000));
// CHECK(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(5));
// REQUIRE(uf.TopLevelState() == ProgressCode::AvoidingGrind);
// REQUIRE(WhileCondition([&]() { return uf.TopLevelState() == ProgressCode::AvoidingGrind; }, 5000));
// REQUIRE(uf.TopLevelState() == ProgressCode::FinishingMoves);
// REQUIRE(WhileCondition([&]() { return uf.TopLevelState() == ProgressCode::FinishingMoves; }, 5000));
// REQUIRE(uf.TopLevelState() == ProgressCode::OK);
}

35
tests/unit/logic/tool_change/CMakeLists.txt Normal file
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@ -0,0 +1,35 @@
# define the test executable
add_executable(
tool_change_tests
../../../../src/logic/feed_to_bondtech.cpp
../../../../src/logic/feed_to_finda.cpp
../../../../src/logic/load_filament.cpp
../../../../src/logic/tool_change.cpp
../../../../src/logic/unload_filament.cpp
../../../../src/logic/unload_to_finda.cpp
../../../../src/modules/buttons.cpp
../../../../src/modules/debouncer.cpp
../../../../src/modules/finda.cpp
../../../../src/modules/fsensor.cpp
../../../../src/modules/globals.cpp
../../../../src/modules/idler.cpp
../../../../src/modules/leds.cpp
../../../../src/modules/permanent_storage.cpp
../../../../src/modules/selector.cpp
../../modules/stubs/stub_adc.cpp
../../modules/stubs/stub_eeprom.cpp
../../modules/stubs/stub_shr16.cpp
../../modules/stubs/stub_timebase.cpp
../stubs/main_loop_stub.cpp
../stubs/stub_motion.cpp
test_tool_change.cpp
)
# define required search paths
target_include_directories(
tool_change_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(tool_change_tests)

56
tests/unit/logic/tool_change/test_tool_change.cpp Normal file
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@ -0,0 +1,56 @@
#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/tool_change.h"
#include "../../modules/stubs/stub_adc.h"
#include "../stubs/main_loop_stub.h"
#include "../stubs/stub_motion.h"
using Catch::Matchers::Equals;
namespace mm = modules::motion;
namespace mf = modules::finda;
namespace mi = modules::idler;
namespace ml = modules::leds;
namespace mb = modules::buttons;
namespace mg = modules::globals;
namespace ms = modules::selector;
TEST_CASE("tool_change::test0", "[tool_change]") {
using namespace logic;
ForceReinitAllAutomata();
ToolChange tc;
// restart the automaton
currentCommand = &tc;
tc.Reset(0);
main_loop();
// REQUIRE(WhileCondition([&]() { return uf.TopLevelState() == ProgressCode::UnloadingToFinda; }, 5000));
// REQUIRE(uf.TopLevelState() == ProgressCode::DisengagingIdler);
// REQUIRE(WhileCondition([&]() { return uf.TopLevelState() == ProgressCode::DisengagingIdler; }, 5000));
// CHECK(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(5));
// REQUIRE(uf.TopLevelState() == ProgressCode::AvoidingGrind);
// REQUIRE(WhileCondition([&]() { return uf.TopLevelState() == ProgressCode::AvoidingGrind; }, 5000));
// REQUIRE(uf.TopLevelState() == ProgressCode::FinishingMoves);
// REQUIRE(WhileCondition([&]() { return uf.TopLevelState() == ProgressCode::FinishingMoves; }, 5000));
// REQUIRE(uf.TopLevelState() == ProgressCode::OK);
}