Update unit test + fix first bugs

src/logic/feed_to_bondtech.cpp

@@ -79,6 +79,8 @@ bool FeedToBondtech::Step() {
         //dbg_logic_P(PSTR("Feed to Bondtech --> Pushing"));
         if (mfs::fsensor.Pressed()) {
             mm::motion.AbortPlannedMoves(); // stop pushing filament
+            // remember the feed distance for later update of bowden length
+            feedEnd_mm = mpu::pulley.CurrentPosition_mm();
             GoToPushToNozzle();
             //        } else if (mm::motion.StallGuard(mm::Pulley)) {
             //            // StallGuard occurred during movement - the filament got stuck
@@ -109,7 +111,7 @@ bool FeedToBondtech::Step() {
             dbg_logic_P(PSTR("Feed to Bondtech --> Idler disengaged"));
             dbg_logic_fP(PSTR("Pulley end steps %u"), mpu::pulley.CurrentPosition_mm());
             state = OK;
-            UpdateBowdenLength(abs(mpu::pulley.CurrentPosition_mm() - feedStart_mm));
+            UpdateBowdenLength(abs(feedEnd_mm - feedStart_mm));
             ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
         }
         return false;

src/logic/feed_to_bondtech.h

@@ -56,7 +56,7 @@ private:
 
     uint8_t state;
     uint8_t maxRetries;
-    int32_t feedStart_mm; // intentionally trying to avoid using U_mm because it is a float (resp. long double)
+    int32_t feedStart_mm, feedEnd_mm; // intentionally trying to avoid using U_mm because it is a float (resp. long double)
 };
 
 } // namespace logic

src/modules/permanent_storage.cpp

@@ -79,12 +79,12 @@ static constexpr bool validBowdenLen(const uint16_t BowdenLength) {
         && BowdenLength <= eepromBowdenLenMaximum);
 }
 
-uint16_t BowdenLength::Get(){
+uint16_t BowdenLength::Get() {
-    uint16_t bl = ee::EEPROM::ReadByte(EEOFFSET(eepromBase->bowdenLengthMM));
+    uint16_t bl = ee::EEPROM::ReadWord(EEOFFSET(eepromBase->bowdenLengthMM));
     return validBowdenLen(bl) ? bl : eepromBowdenLenDefault;
 }
 
-void BowdenLength::Set(uint16_t mm){
+void BowdenLength::Set(uint16_t mm) {
     ee::EEPROM::UpdateWord(EEOFFSET(eepromBase->bowdenLengthMM), mm);
 }
 

tests/unit/logic/feed_to_bondtech/test_feed_to_bondtech.cpp

@@ -28,11 +28,9 @@ TEST_CASE("feed_to_bondtech::feed_phase_unlimited", "[feed_to_bondtech]") {
     REQUIRE(EnsureActiveSlotIndex(slot, mg::FilamentLoadState::AtPulley));
 
     // reset bowden lenghts in EEPROM
-    InitBowdenLengths();
+    SetMinimalBowdenLength();
     // check bowden lengths
-    for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
+    REQUIRE(mps::BowdenLength::Get() == config::minimumBowdenLength.v);
-        REQUIRE(mps::BowdenLength::Get(mg::globals.ActiveSlot()) == config::minimumBowdenLength.v);
-    }
 
     FeedToBondtech fb;
     main_loop();
@@ -64,20 +62,23 @@ TEST_CASE("feed_to_bondtech::feed_phase_unlimited", "[feed_to_bondtech]") {
     REQUIRE(ml::leds.Mode(mg::globals.ActiveSlot(), ml::green) == ml::blink0);
 
     // fast load - no fsensor trigger
+    // performs fast load for config::minimumBowdenLength distance
     REQUIRE(WhileCondition(
         fb,
         [&](uint32_t) { return fb.State() == FeedToBondtech::PushingFilamentFast; },
         mm::unitToSteps<mm::P_pos_t>(config::minimumBowdenLength) + 2));
 
     // slow load - expecting fsensor trigger
+    // This gets interesting with bowden length autotuning - we should trigger at the right step
+    constexpr uint32_t additionalBowdenLengthTrigger = mm::unitToSteps<mm::P_pos_t>(config::defaultBowdenLength - config::minimumBowdenLength);
     REQUIRE(WhileCondition(
         fb,
         [&](uint32_t step) {
-        if( step == 100 ){
+        if( step == additionalBowdenLengthTrigger ){
             mfs::fsensor.ProcessMessage(true);
         }
         return fb.State() == FeedToBondtech::PushingFilamentToFSensor; },
-        1500));
+        additionalBowdenLengthTrigger + 5));
 
     REQUIRE(mfs::fsensor.Pressed());
 
@@ -114,5 +115,11 @@ TEST_CASE("feed_to_bondtech::feed_phase_unlimited", "[feed_to_bondtech]") {
     REQUIRE(fb.State() == FeedToBondtech::OK);
     REQUIRE(ml::leds.LedOn(mg::globals.ActiveSlot(), ml::green));
 
+    // detected bowden length is expected to be 429 in our test scenario
+    uint16_t detectedBowdenLength = mps::BowdenLength::Get();
+    CHECK(detectedBowdenLength == 429);
+    // must be within the specified tolerance of 10mm from the default bowden length
+    REQUIRE(abs(detectedBowdenLength - config::defaultBowdenLength.v) < 10);
+
     REQUIRE(fb.Step() == true); // the automaton finished its work, any consecutive calls to Step must return true
 }

tests/unit/logic/stubs/main_loop_stub.cpp

@@ -165,11 +165,9 @@ void ClearButtons(logic::CommandBase &cb) {
     }
 }
 
-void InitBowdenLengths() {
+void SetMinimalBowdenLength() {
     // reset bowdenLenght in EEPROM
-    for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
+    mps::BowdenLength::Set(config::minimumBowdenLength.v);
-        mps::BowdenLength::Set(slot, config::minimumBowdenLength.v);
-    }
 }
 
 void SetFSensorStateAndDebounce(bool press) {

tests/unit/logic/stubs/main_loop_stub.h

@@ -32,7 +32,7 @@ bool SimulateRetractFromFINDA(uint32_t step, uint32_t findaOff);
 void PressButtonAndDebounce(logic::CommandBase &cb, uint8_t btnIndex, bool fromPrinter);
 void ClearButtons(logic::CommandBase &cb);
 
-void InitBowdenLengths();
+void SetMinimalBowdenLength();
 void SetFSensorStateAndDebounce(bool press);
 
 // these are recommended max steps for simulated movement of the idler and selector

tests/unit/logic/tool_change/test_tool_change.cpp

@@ -79,7 +79,7 @@ bool SimulateUnloadFilament(uint32_t step, const logic::CommandBase *tc, uint32_
 
 void ToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
     ForceReinitAllAutomata();
-    InitBowdenLengths();
+    SetMinimalBowdenLength();
 
     REQUIRE(EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle));
     SetFINDAStateAndDebounce(true);
@@ -105,7 +105,7 @@ void ToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
 
 void NoToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
     ForceReinitAllAutomata();
-    InitBowdenLengths();
+    SetMinimalBowdenLength();
 
     REQUIRE(EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle));
     // the filament is LOADED
@@ -125,7 +125,7 @@ void NoToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
 void JustLoadFilament(logic::ToolChange &tc, uint8_t slot) {
     for (uint8_t startSelectorSlot = 0; startSelectorSlot < config::toolCount; ++startSelectorSlot) {
         ForceReinitAllAutomata();
-        InitBowdenLengths();
+        SetMinimalBowdenLength();
         // make sure all the modules are ready
         // MMU-196: Move selector to a "random" slot
         REQUIRE(EnsureActiveSlotIndex(startSelectorSlot, mg::FilamentLoadState::AtPulley));
@@ -191,7 +191,7 @@ TEST_CASE("tool_change::same_slot_just_unloaded_filament", "[tool_change]") {
 
 void ToolChangeFailLoadToFinda(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
     ForceReinitAllAutomata();
-    InitBowdenLengths();
+    SetMinimalBowdenLength();
 
     REQUIRE(EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle));
     SetFINDAStateAndDebounce(true);
@@ -319,7 +319,7 @@ TEST_CASE("tool_change::load_fail_FINDA_resolve_btnM", "[tool_change]") {
 void ToolChangeFailFSensor(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
     using namespace std::placeholders;
     ForceReinitAllAutomata();
-    InitBowdenLengths();
+    SetMinimalBowdenLength();
 
     REQUIRE(EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle));
     SetFINDAStateAndDebounce(true);
@@ -402,6 +402,7 @@ TEST_CASE("tool_change::load_fail_FSensor_resolve_btnM", "[tool_change]") {
 
 void ToolChangeWithFlickeringFINDA(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot, bool keepFindaPressed) {
     ForceReinitAllAutomata();
+    SetMinimalBowdenLength();
 
     REQUIRE(EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle));
     SetFINDAStateAndDebounce(true);
@@ -500,6 +501,7 @@ TEST_CASE("tool_change::test_flickering_FINDA_keepPressed", "[tool_change]") {
 
 void ToolChangeFSENSOR_TOO_EARLY(logic::ToolChange &tc, uint8_t slot) {
     ForceReinitAllAutomata();
+    SetMinimalBowdenLength();
     REQUIRE(EnsureActiveSlotIndex(slot, mg::FilamentLoadState::AtPulley));
 
     // verify filament NOT loaded