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Verify Cut filament state machine + update unit tests

pull/40/head
D.R.racer 2021-06-30 14:05:36 +02:00 committed by DRracer
parent 75fe7b20b5
commit 974c1ba6db
4 changed files with 60 additions and 53 deletions
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44
src/logic/cut_filament.cpp
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@ -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(newFilamentSlot); //@@TODO does this make sense?
ms::selector.MoveToSlot(newFilamentSlot);
mi::idler.Engage(cutSlot);
ms::selector.MoveToSlot(cutSlot);
}
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 {
// unload back to the pulley
state = ProgressCode::UnloadingToPulley;
mm::motion.PlanMove(mm::Pulley, -400, 1000); // @@TODO constants
}
}
break;
case ProgressCode::UnloadingToPulley:
if (mm::motion.QueueEmpty()) { // idler and selector finished their moves
// move selector aside - prepare the blade into active position
state = ProgressCode::PreparingBlade;
ms::selector.MoveToSlot(mg::globals.ActiveSlot());
ms::selector.MoveToSlot(cutSlot + 1);
}
}
break;
case ProgressCode::PreparingBlade:
if (mm::motion.QueueEmpty()) {
state = ProgressCode::EngagingIdler;
mi::idler.Engage(mg::globals.ActiveSlot());
}
break;
case ProgressCode::EngagingIdler:
if (mi::idler.Engaged()) {
if (ms::selector.Slot() == cutSlot + 1) {
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
state = ProgressCode::FeedingToFinda;
if (ms::selector.Slot() == 5) { // selector returned to position, feed the filament back to FINDA
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;

1
src/logic/cut_filament.h
View File

@ -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();
};

1
src/logic/progress_codes.h
View File

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

77
tests/unit/logic/cut_filament/test_cut_filament.cpp
View File

@ -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();
// 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));
// check initial conditions
REQUIRE(VerifyState(cf, false, 5, cutSlot, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::SelectingFilamentSlot));
// 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...
REQUIRE(cf.TopLevelState() == ProgressCode::PreparingBlade);
REQUIRE(WhileTopState(cf, ProgressCode::PreparingBlade, 5000));
// filament fed to FINDA
//@@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));
REQUIRE(cf.TopLevelState() == ProgressCode::EngagingIdler);
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));
// filament pushed - performing cut
REQUIRE(cf.TopLevelState() == ProgressCode::PerformingCut);
REQUIRE(WhileTopState(cf, ProgressCode::PerformingCut, 5000));
// returning selector
REQUIRE(cf.TopLevelState() == ProgressCode::ReturningSelector);
REQUIRE(WhileTopState(cf, ProgressCode::ReturningSelector, 5000));
// the next states are still @@TODO
// 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));
// 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
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));
// pushing filament a bit for a cut
REQUIRE(WhileTopState(cf, ProgressCode::PushingFilament, 5000));
REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, cutSlot + 1, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::PerformingCut));
// cutting
REQUIRE(WhileTopState(cf, ProgressCode::PerformingCut, 5000));
REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, 0, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::ReturningSelector));
// moving selector to the other end of its axis
REQUIRE(WhileTopState(cf, ProgressCode::ReturningSelector, 5000));
REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, 5, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
}