Explain and fix the LED states while cutting filament

now the test is correct including LEDs

src/logic/cut_filament.cpp

@@ -14,6 +14,7 @@ CutFilament cutFilament;
 
 namespace mm = modules::motion;
 namespace mi = modules::idler;
+namespace ml = modules::leds;
 namespace ms = modules::selector;
 namespace mg = modules::globals;
 
@@ -33,6 +34,8 @@ void CutFilament::SelectFilamentSlot() {
     state = ProgressCode::SelectingFilamentSlot;
     mi::idler.Engage(cutSlot);
     ms::selector.MoveToSlot(cutSlot);
+    ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
+    ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
 }
 
 bool CutFilament::Step() {
@@ -89,6 +92,8 @@ bool CutFilament::Step() {
     case ProgressCode::ReturningSelector:
         if (ms::selector.Slot() == 5) { // selector returned to position, feed the filament back to FINDA
             state = ProgressCode::OK;
+            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
+            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
             feed.Reset(true);
         }
         break;

tests/unit/logic/cut_filament/test_cut_filament.cpp

@@ -34,6 +34,7 @@ void CutSlot(uint8_t cutSlot) {
     ForceReinitAllAutomata();
 
     logic::CutFilament cf;
+    REQUIRE(VerifyState(cf, false, 5, 0, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
 
     EnsureActiveSlotIndex(cutSlot);
 
@@ -41,19 +42,19 @@ void CutSlot(uint8_t cutSlot) {
     cf.Reset(cutSlot);
 
     // check initial conditions
-    REQUIRE(VerifyState(cf, false, 5, cutSlot, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::SelectingFilamentSlot));
+    REQUIRE(VerifyState(cf, false, 5, cutSlot, false, ml::blink0, 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));
 
     // idler and selector reached their target positions and the CF automaton will start feeding to FINDA as the next step
-    REQUIRE(VerifyState(cf, false, cutSlot, cutSlot, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::FeedingToFinda));
+    REQUIRE(VerifyState(cf, false, cutSlot, cutSlot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::FeedingToFinda));
 
     // prepare for simulated finda trigger
     REQUIRE(WhileCondition(
         cf,
         [&](int step) -> bool {
-        if( step == 1000 ){ // simulate FINDA trigger - will get pressed in 100 steps (due to debouncing)
+        if( step == 100 ){ // simulate FINDA trigger - will get pressed in 100 steps (due to debouncing)
             hal::adc::SetADC(1, 900);
         }
         return cf.TopLevelState() == ProgressCode::FeedingToFinda; }, 5000));
@@ -76,19 +77,19 @@ void CutSlot(uint8_t cutSlot) {
 
     // 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(VerifyState2(cf, /*true*/ false, cutSlot, cutSlot + 1, false, cutSlot, ml::blink0, 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));
+    REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, cutSlot + 1, false, cutSlot, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::PerformingCut));
 
     // cutting
-    REQUIRE(WhileTopState(cf, ProgressCode::PerformingCut, 5000));
+    REQUIRE(WhileTopState(cf, ProgressCode::PerformingCut, 10000));
-    REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, 0, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::ReturningSelector));
+    REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, 0, false, cutSlot, 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));
+    REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, 5, false, cutSlot, ml::on, ml::off, ErrorCode::OK, ProgressCode::OK));
 }
 
 TEST_CASE("cut_filament::cut0", "[cut_filament]") {

tests/unit/logic/helpers/helpers.ipp

@@ -1,3 +1,4 @@
+// LED checked at selector's index
 template<typename SM>
 bool VerifyState(SM &uf, bool filamentLoaded, uint8_t idlerSlotIndex, uint8_t selectorSlotIndex,
     bool findaPressed, ml::Mode greenLEDMode, ml::Mode redLEDMode, ErrorCode err, ProgressCode topLevelProgress) {
@@ -7,8 +8,45 @@ bool VerifyState(SM &uf, bool filamentLoaded, uint8_t idlerSlotIndex, uint8_t se
     CHECKED_ELSE(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(selectorSlotIndex)) { return false; }
     CHECKED_ELSE(ms::selector.Slot() == selectorSlotIndex) { return false; }
     CHECKED_ELSE(mf::finda.Pressed() == findaPressed) { return false; }
+
+    for(uint8_t ledIndex = 0; ledIndex < 5; ++ledIndex){
+        if( ledIndex != selectorSlotIndex ){
+            // the other LEDs should be off
+            CHECKED_ELSE(ml::leds.Mode(ledIndex, ml::red) == ml::off) { return false; }
+            CHECKED_ELSE(ml::leds.Mode(ledIndex, ml::green) == ml::off) { return false; }
+        } else {
             CHECKED_ELSE(ml::leds.Mode(selectorSlotIndex, ml::red) == redLEDMode) { return false; }
             CHECKED_ELSE(ml::leds.Mode(selectorSlotIndex, ml::green) == greenLEDMode) { return false; }
+        }
+    }
+
+    CHECKED_ELSE(uf.Error() == err) { return false; }
+    CHECKED_ELSE(uf.TopLevelState() == topLevelProgress) { return false; }
+    return true;
+}
+
+// LED checked at their own ledCheckIndex index
+template<typename SM>
+bool VerifyState2(SM &uf, bool filamentLoaded, uint8_t idlerSlotIndex, uint8_t selectorSlotIndex,
+    bool findaPressed, uint8_t ledCheckIndex, ml::Mode greenLEDMode, ml::Mode redLEDMode, ErrorCode err, ProgressCode topLevelProgress) {
+    CHECKED_ELSE(mg::globals.FilamentLoaded() == filamentLoaded) { return false; }
+    CHECKED_ELSE(mm::axes[mm::Idler].pos == mi::Idler::SlotPosition(idlerSlotIndex)) { return false; }
+    CHECKED_ELSE(mi::idler.Engaged() == (idlerSlotIndex < 5)) { return false; }
+    CHECKED_ELSE(mm::axes[mm::Selector].pos == ms::Selector::SlotPosition(selectorSlotIndex)) { return false; }
+    CHECKED_ELSE(ms::selector.Slot() == selectorSlotIndex) { return false; }
+    CHECKED_ELSE(mf::finda.Pressed() == findaPressed) { return false; }
+
+    for(uint8_t ledIndex = 0; ledIndex < 5; ++ledIndex){
+        if( ledIndex != ledCheckIndex ){
+            // the other LEDs should be off
+            CHECKED_ELSE(ml::leds.Mode(ledIndex, ml::red) == ml::off) { return false; }
+            CHECKED_ELSE(ml::leds.Mode(ledIndex, ml::green) == ml::off) { return false; }
+        } else {
+            CHECKED_ELSE(ml::leds.Mode(ledCheckIndex, ml::red) == redLEDMode) { return false; }
+            CHECKED_ELSE(ml::leds.Mode(ledCheckIndex, ml::green) == greenLEDMode) { return false; }
+        }
+    }
+
     CHECKED_ELSE(uf.Error() == err) { return false; }
     CHECKED_ELSE(uf.TopLevelState() == topLevelProgress) { return false; }
     return true;