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Explain and fix the LED states while cutting filament 

now the test is correct including LEDs
pull/44/head
D.R.racer 2021-07-01 08:07:52 +02:00 committed by DRracer
parent d81b00a0f8
commit 9efb127acb
3 changed files with 54 additions and 10 deletions
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5
src/logic/cut_filament.cpp
View File

@ -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;

17
tests/unit/logic/cut_filament/test_cut_filament.cpp
View File

@ -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(VerifyState(cf, /*true*/ false, cutSlot, 0, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::ReturningSelector));
REQUIRE(WhileTopState(cf, ProgressCode::PerformingCut, 10000));
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]") {

42
tests/unit/logic/helpers/helpers.ipp
View File

@ -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; }
CHECKED_ELSE(ml::leds.Mode(selectorSlotIndex, ml::red) == redLEDMode) { return false; }
CHECKED_ELSE(ml::leds.Mode(selectorSlotIndex, ml::green) == greenLEDMode) { 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;