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Distinguish among different error states when recovering ToolChange 

Some errors need specific recovery, it seems it is no longer possible to "just" retry.
pull/243/head
D.R.racer 2022-11-18 10:41:18 +01:00
parent c8c39f7b69
commit 8735d7fadf
5 changed files with 107 additions and 27 deletions
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16
src/logic/tool_change.cpp
View File

@ -39,10 +39,8 @@ bool ToolChange::Reset(uint8_t param) {
if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
dbg_logic_P(PSTR("Filament is loaded --> unload"));
state = ProgressCode::UnloadingFilament;
unloadAlreadyFinished = false;
unl.Reset(mg::globals.ActiveSlot());
} else {
unloadAlreadyFinished = true;
mg::globals.SetFilamentLoaded(plannedSlot, mg::FilamentLoadState::InSelector); // activate the correct slot, feed uses that
if (feed.Reset(true, false)) {
state = ProgressCode::FeedingToFinda;
@ -85,7 +83,6 @@ bool ToolChange::StepInner() {
// unloading sequence finished - basically, no errors can occurr here
// as UnloadFilament should handle all the possible error states on its own
// There is no way the UnloadFilament to finish in an error state
unloadAlreadyFinished = true;
// But planning the next move can fail if Selector refuses moving to the next slot
// - that scenario is handled inside GoToFeedingToFinda
GoToFeedingToFinda();
@ -145,17 +142,28 @@ bool ToolChange::StepInner() {
// Beware: we may run into issues when FINDA or FSensor do not work correctly. Selector may rely on the presumed filament position and actually cut it accidentally when trying to rehome.
// It is yet to be seen if something like this can actually happen.
InvalidateHoming();
// It looks like we need to distinguish next steps based on what happened
switch (error) {
case ErrorCode::FSENSOR_TOO_EARLY:
Reset(mg::globals.ActiveSlot());
break;
case ErrorCode::FINDA_FLICKERS:
// This is a tricky part in case FINDA is flickering
// If we already managed to finish the unload, we must assume finda should be NOT pressed.
// If it is still pressed
// -> FINDA is flickering/badly tuned
// -> unreliable and the user didn't fix the issue
// -> we cannot do anything else but request the user to fix FINDA
if (mf::finda.Pressed() && (!unloadAlreadyFinished)) {
GoToFeedingToFinda();
break;
default:
if (mf::finda.Pressed()) {
Reset(mg::globals.ActiveSlot());
} else {
GoToFeedingToFinda();
}
}
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

4
src/logic/tool_change.h
View File

@ -38,10 +38,6 @@ private:
FeedToFinda feed;
FeedToBondtech james; // bond ;)
uint8_t plannedSlot;
/// true if the unload phase was either not necessary or finished correctly.
/// Part of the flickering FINDA issue
bool unloadAlreadyFinished;
};
/// The one and only instance of ToolChange state machine in the FW

12
tests/unit/logic/helpers/helpers.ipp
View File

@ -64,17 +64,21 @@ bool VerifyEnvironmentState(mg::FilamentLoadState fls, uint8_t idlerSlotIndex, u
for(uint8_t ledIndex = 0; ledIndex < config::toolCount; ++ledIndex){
if( ledIndex != selectorSlotIndex ){
// the other LEDs should be off
CHECKED_ELSE(ml::leds.Mode(ledIndex, ml::red) == ml::off) {
auto red = ml::leds.Mode(ledIndex, ml::red);
CHECKED_ELSE(red == ml::off) {
return false;
}
CHECKED_ELSE(ml::leds.Mode(ledIndex, ml::green) == ml::off) {
auto green = ml::leds.Mode(ledIndex, ml::green);
CHECKED_ELSE(green == ml::off) {
return false;
}
} else {
CHECKED_ELSE(ml::leds.Mode(selectorSlotIndex, ml::red) == redLEDMode) {
auto red = ml::leds.Mode(selectorSlotIndex, ml::red);
CHECKED_ELSE(red == redLEDMode) {
return false;
}
CHECKED_ELSE(ml::leds.Mode(selectorSlotIndex, ml::green) == greenLEDMode) {
auto green = ml::leds.Mode(selectorSlotIndex, ml::green);
CHECKED_ELSE(green == greenLEDMode) {
return false;
}
}

1
tests/unit/logic/stubs/main_loop_stub.cpp
View File

@ -76,6 +76,7 @@ void ForceReinitAllAutomata() {
mm::ReinitMotion();
// let's assume we have the filament NOT loaded and active slot 0
mg::globals.Init();
mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::AtPulley);
}

87
tests/unit/logic/tool_change/test_tool_change.cpp
View File

@ -64,6 +64,21 @@ void CheckFinishedCorrectly(logic::ToolChange &tc, uint8_t toSlot) {
REQUIRE(mg::globals.ActiveSlot() == toSlot);
}
// This function exists for the sole purpose of debugging.
// WritePin is always_inline and gdb has a hard time settinge breakpoints when FINDA should do something
void FINDAOnOff(bool press) {
hal::gpio::WritePin(FINDA_PIN, press ? hal::gpio::Level::high : hal::gpio::Level::low);
}
bool SimulateUnloadFilament(uint32_t step, const logic::CommandBase *tc, uint32_t unloadLengthSteps) {
if (step == 20) { // on 20th step make FSensor switch off
mfs::fsensor.ProcessMessage(false);
} else if (step == unloadLengthSteps) {
FINDAOnOff(false);
}
return tc->TopLevelState() == ProgressCode::UnloadingFilament;
}
void ToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
ForceReinitAllAutomata();
@ -76,14 +91,8 @@ void ToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
REQUIRE(WhileCondition(
tc,
[&](uint32_t step) -> bool {
if(step == 20){ // on 20th step make FSensor switch off
mfs::fsensor.ProcessMessage(false);
} else if(step == mm::unitToSteps<mm::P_pos_t>(config::minimumBowdenLength)){ // on 2000th step make FINDA trigger
hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::low);
}
return tc.TopLevelState() == ProgressCode::UnloadingFilament; },
200000UL));
std::bind(SimulateUnloadFilament, _1, &tc, mm::unitToSteps<mm::P_pos_t>(config::minimumBowdenLength)),
200'000UL));
// REQUIRE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::AtPulley);
REQUIRE(VerifyState2(tc, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), fromSlot, false, false, toSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
@ -493,3 +502,65 @@ TEST_CASE("tool_change::test_flickering_FINDA_keepPressed", "[tool_change]") {
}
}
}
void ToolChangeFSENSOR_TOO_EARLY(logic::ToolChange &tc, uint8_t slot) {
ForceReinitAllAutomata();
REQUIRE(EnsureActiveSlotIndex(slot, mg::FilamentLoadState::AtPulley));
// verify filament NOT loaded
REQUIRE(VerifyEnvironmentState(mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off));
// restart the automaton
tc.Reset(slot);
FeedingToFinda(tc, slot);
REQUIRE_FALSE(mfs::fsensor.Pressed());
REQUIRE(WhileCondition(
tc,
[&](uint32_t step) -> bool {
if(step == mm::unitToSteps<mm::P_pos_t>(config::minimumBowdenLength) / 2){ // make FSensor trigger at the half of minimal distance
mfs::fsensor.ProcessMessage(true);
}
return tc.TopLevelState() == ProgressCode::FeedingToBondtech; },
mm::unitToSteps<mm::P_pos_t>(config::minimumBowdenLength) + 10000));
REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, slot, slot, true, true, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRDisengagingIdler));
SimulateErrDisengagingIdler(tc, ErrorCode::FSENSOR_TOO_EARLY);
REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, mi::idler.IdleSlotIndex(), slot, true, false, ml::off, ml::blink0, ErrorCode::FSENSOR_TOO_EARLY, ProgressCode::ERRWaitingForUser));
// make AutoRetry
PressButtonAndDebounce(tc, mb::Middle, true);
REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, mi::idler.IdleSlotIndex(), slot, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
SimulateIdlerHoming(tc);
// perform regular unload, just a little short (same length as above)
REQUIRE(WhileCondition(
tc,
[&](uint32_t step) -> bool {
if(step == 20){ // on 20th step make FSensor switch off
mfs::fsensor.ProcessMessage(false);
} else if(step == mm::unitToSteps<mm::P_pos_t>(config::minimumBowdenLength)/2){
FINDAOnOff(false);
}
return tc.unl.State() != ProgressCode::DisengagingIdler; },
200'000UL));
// still unloading, but Selector can start homing
SimulateSelectorHoming(tc);
// wait for finishing of UnloadingFilament
WhileTopState(tc, ProgressCode::UnloadingFilament, 5000);
REQUIRE(VerifyState2(tc, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, slot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
FeedingToFinda(tc, slot);
FeedingToBondtech(tc, slot);
CheckFinishedCorrectly(tc, slot);
}
TEST_CASE("tool_change::test_FSENSOR_TOO_EARLY", "[tool_change]") {
for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
logic::ToolChange tc;
ToolChangeFSENSOR_TOO_EARLY(tc, slot);
}
}