Verify Cut filament state machine + update unit tests

src/logic/cut_filament.cpp

@@ -19,10 +19,11 @@ namespace mg = modules::globals;
 
 void CutFilament::Reset(uint8_t param) {
     error = ErrorCode::OK;
+    cutSlot = param;
 
     if (mg::globals.FilamentLoaded()) {
         state = ProgressCode::UnloadingFilament;
-        unl.Reset(mg::globals.ActiveSlot());
+        unl.Reset(cutSlot);
     } else {
         SelectFilamentSlot();
     }
@@ -30,9 +31,8 @@ void CutFilament::Reset(uint8_t param) {
 
 void CutFilament::SelectFilamentSlot() {
     state = ProgressCode::SelectingFilamentSlot;
-    uint8_t newFilamentSlot = mg::globals.ActiveSlot() + 1; // move 1 slot aside
+    mi::idler.Engage(cutSlot);
-    mi::idler.Engage(newFilamentSlot); //@@TODO does this make sense?
+    ms::selector.MoveToSlot(cutSlot);
-    ms::selector.MoveToSlot(newFilamentSlot);
 }
 
 bool CutFilament::Step() {
@@ -46,34 +46,32 @@ bool CutFilament::Step() {
         }
         break;
     case ProgressCode::SelectingFilamentSlot:
-        if (mm::motion.QueueEmpty()) { // idler and selector finished their moves
+        if (mi::idler.Engaged() && ms::selector.Slot() == cutSlot) { // idler and selector finished their moves
             feed.Reset(true);
             state = ProgressCode::FeedingToFinda;
         }
         break;
     case ProgressCode::FeedingToFinda: // @@TODO this state will be reused for repeated cutting of filament ... probably there will be multiple attempts, not sure
-        //@@TODO - this is not correct - when the active slot is +1, the FINDA cannot detect the incoming filament - we can only pray that the filament moves
-        //idler should hold slot 0, while the selector is at slot 1
         if (feed.Step()) {
             if (feed.State() == FeedToFinda::Failed) {
                 // @@TODO
             } else {
-                // move selector aside - prepare the blade into active position
+                // unload back to the pulley
-                state = ProgressCode::PreparingBlade;
+                state = ProgressCode::UnloadingToPulley;
-                ms::selector.MoveToSlot(mg::globals.ActiveSlot());
+                mm::motion.PlanMove(mm::Pulley, -400, 1000); // @@TODO constants
             }
         }
         break;
-    case ProgressCode::PreparingBlade:
+    case ProgressCode::UnloadingToPulley:
-        if (mm::motion.QueueEmpty()) {
+        if (mm::motion.QueueEmpty()) { // idler and selector finished their moves
-            state = ProgressCode::EngagingIdler;
+            // move selector aside - prepare the blade into active position
-            mi::idler.Engage(mg::globals.ActiveSlot());
+            state = ProgressCode::PreparingBlade;
+            ms::selector.MoveToSlot(cutSlot + 1);
         }
-        break;
+    case ProgressCode::PreparingBlade:
-    case ProgressCode::EngagingIdler:
+        if (ms::selector.Slot() == cutSlot + 1) {
-        if (mi::idler.Engaged()) {
             state = ProgressCode::PushingFilament;
-            mm::motion.PlanMove(cutStepsPre, 0, 0, 1500, 0, 0); //@@TODO
+            mm::motion.PlanMove(mm::Pulley, 400, 1000); // @@TODO constants
         }
         break;
     case ProgressCode::PushingFilament:
@@ -83,17 +81,19 @@ bool CutFilament::Step() {
         }
         break;
     case ProgressCode::PerformingCut:
-        if (mm::motion.QueueEmpty()) { // this may not be necessary if we want the selector and pulley move at once
+        if (ms::selector.Slot() == 0) { // this may not be necessary if we want the selector and pulley move at once
             state = ProgressCode::ReturningSelector;
-            ms::selector.MoveToSlot(mg::globals.ActiveSlot()); // return selector back
+            ms::selector.MoveToSlot(5); // move selector to the other end of its axis to cleanup
         }
         break;
     case ProgressCode::ReturningSelector:
-        if (mm::motion.QueueEmpty()) { // selector returned to position, feed the filament back to FINDA
+        if (ms::selector.Slot() == 5) { // selector returned to position, feed the filament back to FINDA
-            state = ProgressCode::FeedingToFinda;
+            state = ProgressCode::OK;
             feed.Reset(true);
         }
         break;
+    case ProgressCode::OK:
+        return true;
     default: // we got into an unhandled state, better report it
         state = ProgressCode::ERRInternal;
         error = ErrorCode::INTERNAL;

src/logic/cut_filament.h

@@ -28,6 +28,7 @@ private:
     constexpr static const uint16_t cutStepsPost = 150;
     UnloadFilament unl; ///< a high-level command/operation may be used as a building block of other operations as well
     FeedToFinda feed;
+    uint8_t cutSlot;
 
     void SelectFilamentSlot();
 };

src/logic/progress_codes.h

@@ -10,6 +10,7 @@ enum class ProgressCode : uint_fast8_t {
     EngagingIdler,
     DisengagingIdler,
     UnloadingToFinda,
+    UnloadingToPulley,
     FeedingToFinda,
     FeedingToBondtech,
     AvoidingGrind,

tests/unit/logic/cut_filament/test_cut_filament.cpp

@@ -27,30 +27,29 @@ namespace mb = modules::buttons;
 namespace mg = modules::globals;
 namespace ms = modules::selector;
 
+#include "../helpers/helpers.ipp"
+
 TEST_CASE("cut_filament::cut0", "[cut_filament]") {
-    using namespace logic;
+    uint8_t cutSlot = 0;
 
     ForceReinitAllAutomata();
 
-    CutFilament cf;
+    logic::CutFilament cf;
+
+    EnsureActiveSlotIndex(cutSlot);
+
     // restart the automaton
-    cf.Reset(0);
+    cf.Reset(cutSlot);
 
-    main_loop();
+    // check initial conditions
-
+    REQUIRE(VerifyState(cf, false, 5, cutSlot, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::SelectingFilamentSlot));
-    // it should have instructed the selector and idler to move to slot 1
-    // check if the idler and selector have the right command
-    CHECK(modules::motion::axes[modules::motion::Idler].targetPos == mi::Idler::SlotPosition(0));
-    CHECK(modules::motion::axes[modules::motion::Selector].targetPos == ms::Selector::SlotPosition(0));
 
     // now cycle at most some number of cycles (to be determined yet) and then verify, that the idler and selector reached their target positions
     REQUIRE(WhileTopState(cf, ProgressCode::SelectingFilamentSlot, 5000));
 
-    CHECK(modules::motion::axes[modules::motion::Idler].pos == mi::Idler::SlotPosition(0));
-    CHECK(modules::motion::axes[modules::motion::Selector].pos == ms::Selector::SlotPosition(0));
-
     // idler and selector reached their target positions and the CF automaton will start feeding to FINDA as the next step
-    REQUIRE(cf.TopLevelState() == ProgressCode::FeedingToFinda);
+    REQUIRE(VerifyState(cf, false, cutSlot, cutSlot, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::FeedingToFinda));
+
     // prepare for simulated finda trigger
     REQUIRE(WhileCondition(
         cf,
@@ -60,29 +59,35 @@ TEST_CASE("cut_filament::cut0", "[cut_filament]") {
         }
         return cf.TopLevelState() == ProgressCode::FeedingToFinda; }, 5000));
 
-    // filament fed into FINDA, cutting...
+    // filament fed to FINDA
-    REQUIRE(cf.TopLevelState() == ProgressCode::PreparingBlade);
+    //@@TODO filament loaded flag - decide whether the filament loaded flag means really loaded into the printer or just a piece of filament
+    // stuck out of the pulley to prevent movement of the selector
+    REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, cutSlot, true, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::UnloadingToPulley));
+
+    // pull it back to the pulley + simulate FINDA depress
+    REQUIRE(WhileCondition(
+        cf,
+        [&](int step) -> bool {
+        if( step == 100 ){ // simulate FINDA trigger - will get depressed in 100 steps
+            hal::adc::SetADC(1, 0);
+        }
+        return cf.TopLevelState() == ProgressCode::UnloadingToPulley; }, 5000));
+
+    REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, cutSlot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::PreparingBlade));
+
+    // now move the selector aside, prepare for cutting
     REQUIRE(WhileTopState(cf, ProgressCode::PreparingBlade, 5000));
+    REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, cutSlot + 1, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::PushingFilament));
 
-    REQUIRE(cf.TopLevelState() == ProgressCode::EngagingIdler);
+    // pushing filament a bit for a cut
-    REQUIRE(WhileTopState(cf, ProgressCode::EngagingIdler, 5000));
-
-    // the idler should be at the active slot @@TODO
-    REQUIRE(cf.TopLevelState() == ProgressCode::PushingFilament);
     REQUIRE(WhileTopState(cf, ProgressCode::PushingFilament, 5000));
+    REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, cutSlot + 1, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::PerformingCut));
 
-    // filament pushed - performing cut
+    // cutting
-    REQUIRE(cf.TopLevelState() == ProgressCode::PerformingCut);
     REQUIRE(WhileTopState(cf, ProgressCode::PerformingCut, 5000));
+    REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, 0, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::ReturningSelector));
 
-    // returning selector
+    // moving selector to the other end of its axis
-    REQUIRE(cf.TopLevelState() == ProgressCode::ReturningSelector);
     REQUIRE(WhileTopState(cf, ProgressCode::ReturningSelector, 5000));
-
+    REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, 5, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
-    // the next states are still @@TODO
 }
-
-// comments:
-// The tricky part of the whole state machine are the edge cases - filament not loaded, stall guards etc.
-// ... all the external influence we can get on the real HW
-// But the good news is we can simulate them all in the unit test and thus ensure proper handling