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Cleanup error recovery of LoadFilament 

+ cover all paths with unit tests
pull/138/head
D.R.racer 2021-11-08 10:24:56 +01:00 committed by DRracer
parent 96397ec16b
commit 872b2206ed
3 changed files with 107 additions and 13 deletions
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34
src/logic/load_filament.cpp
View File

@ -19,14 +19,26 @@ void LoadFilament::Reset(uint8_t param) {
return;
}
dbg_logic_P(PSTR("Load Filament"));
mg::globals.SetFilamentLoaded(param, mg::FilamentLoadState::AtPulley); // still at pulley, haven't moved yet
Reset2();
}
void logic::LoadFilament::Reset2() {
state = ProgressCode::FeedingToFinda;
error = ErrorCode::RUNNING;
mg::globals.SetFilamentLoaded(param, mg::FilamentLoadState::AtPulley); // still at pulley, haven't moved yet
feed.Reset(true);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
}
void logic::LoadFilament::GoToRetractingFromFinda() {
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
state = ProgressCode::RetractingFromFinda;
error = ErrorCode::RUNNING;
retract.Reset();
}
bool LoadFilament::StepInner() {
switch (state) {
case ProgressCode::FeedingToFinda:
@ -80,7 +92,12 @@ bool LoadFilament::StepInner() {
mi::idler.Engage(mg::globals.ActiveSlot());
break;
case mui::Event::Middle: // try again the whole sequence
Reset(mg::globals.ActiveSlot());
// however it depends on the state of FINDA - if it is on, we must perform unload first
if (!mf::finda.Pressed()) {
Reset2();
} else {
GoToRetractingFromFinda();
}
break;
case mui::Event::Right: // problem resolved - the user pushed the fillament by hand?
// we should check the state of all the sensors and either report another error or confirm the correct state
@ -89,11 +106,8 @@ bool LoadFilament::StepInner() {
error = ErrorCode::FINDA_DIDNT_SWITCH_ON;
state = ProgressCode::ERRWaitingForUser; // stand still
} else {
// all sensors are ok
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
state = ProgressCode::OK;
error = ErrorCode::OK;
// all sensors are ok - pull the filament back
GoToRetractingFromFinda();
}
break;
default: // no event, continue waiting for user input
@ -110,11 +124,7 @@ bool LoadFilament::StepInner() {
case ProgressCode::ERRHelpingFilament:
if (mf::finda.Pressed()) {
// the help was enough to press the FINDA, we are ok, continue normally
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
state = ProgressCode::RetractingFromFinda;
retract.Reset();
error = ErrorCode::RUNNING;
GoToRetractingFromFinda();
} else if (mm::motion.QueueEmpty()) {
// helped a bit, but FINDA didn't trigger, return to the main error state
state = ProgressCode::ERRDisengagingIdler;

3
src/logic/load_filament.h
View File

@ -21,6 +21,9 @@ public:
bool StepInner() override;
private:
void GoToRetractingFromFinda();
void Reset2();
FeedToFinda feed;
RetractFromFinda retract;
};

83
tests/unit/logic/load_filament/test_load_filament.cpp
View File

@ -100,7 +100,7 @@ void FailedLoadToFindaResolveHelp(uint8_t slot, logic::LoadFilament &lf) {
// In this case we check the first option
// Perform press on button 1 + debounce
// Perform press on button 0 + debounce
hal::adc::SetADC(config::buttonsADCIndex, config::buttonADCLimits[0][0] + 1);
while (!mb::buttons.ButtonPressed(0)) {
main_loop();
@ -136,6 +136,60 @@ void FailedLoadToFindaResolveHelpFindaDidntTrigger(uint8_t slot, logic::LoadFila
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, slot, slot, false, true, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_ON, ProgressCode::ERRDisengagingIdler));
}
void FailedLoadToFindaResolveManual(uint8_t slot, logic::LoadFilament &lf) {
// simulate the user fixed the issue himself
// Perform press on button 2 + debounce + switch on FINDA
hal::adc::SetADC(config::buttonsADCIndex, config::buttonADCLimits[2][0] + 1);
hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::high);
while (!mb::buttons.ButtonPressed(2)) {
main_loop();
lf.Step();
}
// pulling filament back
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::RetractingFromFinda));
// Stage 3 - retracting from finda
// we'll assume the finda is working correctly here
REQUIRE(WhileCondition(
lf,
[&](int step) -> bool {
if(step == 50){ // on 50th step make FINDA trigger
hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::low);
}
return lf.TopLevelState() == ProgressCode::RetractingFromFinda; },
5000));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, slot, slot, false, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::DisengagingIdler));
// disengaging idler
REQUIRE(WhileTopState(lf, ProgressCode::DisengagingIdler, idlerEngageDisengageMaxSteps));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
}
void FailedLoadToFindaResolveManualNoFINDA(uint8_t slot, logic::LoadFilament &lf) {
// Perform press on button 2 + debounce + keep FINDA OFF (i.e. the user didn't solve anything)
hal::adc::SetADC(config::buttonsADCIndex, config::buttonADCLimits[2][0] + 1);
while (!mb::buttons.ButtonPressed(2)) {
main_loop();
lf.Step();
}
// pulling filament back
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, true, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_ON, ProgressCode::ERRWaitingForUser));
}
void FailedLoadToFindaResolveTryAgain(uint8_t slot, logic::LoadFilament &lf) {
// Perform press on button 1 + debounce
hal::adc::SetADC(config::buttonsADCIndex, config::buttonADCLimits[1][0] + 1);
while (!mb::buttons.ButtonPressed(1)) {
main_loop();
lf.Step();
}
// the state machine should have restarted
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
LoadFilamentSuccessful(slot, lf);
}
TEST_CASE("load_filament::failed_load_to_finda_0-4_resolve_help_second_ok", "[load_filament]") {
for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
logic::LoadFilament lf;
@ -178,3 +232,30 @@ TEST_CASE("load_filament::state_machine_reusal", "[load_filament]") {
}
}
}
TEST_CASE("load_filament::failed_load_to_finda_0-4_resolve_manual", "[load_filament]") {
for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
logic::LoadFilament lf;
LoadFilamentCommonSetup(slot, lf);
FailedLoadToFinda(slot, lf);
FailedLoadToFindaResolveManual(slot, lf);
}
}
TEST_CASE("load_filament::failed_load_to_finda_0-4_resolve_manual_no_FINDA", "[load_filament]") {
for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
logic::LoadFilament lf;
LoadFilamentCommonSetup(slot, lf);
FailedLoadToFinda(slot, lf);
FailedLoadToFindaResolveManualNoFINDA(slot, lf);
}
}
TEST_CASE("load_filament::failed_load_to_finda_0-4_try_again", "[load_filament]") {
for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
logic::LoadFilament lf;
LoadFilamentCommonSetup(slot, lf);
FailedLoadToFinda(slot, lf);
FailedLoadToFindaResolveTryAgain(slot, lf);
}
}