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Update to latest main + fix unit tests 

... in relation to the newly introduced stepping in physical units rather than in steps
pull/77/head
D.R.racer 2021-07-27 09:42:52 +02:00 committed by DRracer
parent 16dc129b49
commit aa5995368d
7 changed files with 40 additions and 49 deletions
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44
src/config/config.h
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@ -7,42 +7,26 @@ namespace config {
static constexpr const uint8_t toolCount = 5U; ///< Max number of extruders/tools/slots
// Idler's setup
/*
static constexpr U_deg idlerSlotPositions[toolCount + 1] = {
1.0_deg, 2.0_deg, 3.0_deg, 4.0_deg, 5.0_deg, 0
}; ///< slots 0-4 are the real ones, the 5th is the idle position
// Selector's setup
static constexpr U_mm selectorSlotPositions[toolCount + 1] = {
1.0_mm, 2.0_mm, 3.0_mm, 4.0_mm, 5.0_mm, 6.0_mm
}; ///< slots 0-4 are the real ones, the 5th is the farthest parking positions
*/
/// Idler steps between neighbor positions: 2 msteps = 180 / 4
static constexpr uint16_t idlerSteps = 1420 / 4;
/// Absolute positions for Idler's slots: 0-4 are the real ones, the 5th index is the idle position
static constexpr uint16_t idlerSlotPositions[toolCount + 1] = {
idlerSteps,
idlerSteps * 2,
idlerSteps * 3,
idlerSteps * 4,
idlerSteps * 5,
0
static constexpr U_deg idlerSlotPositions[toolCount + 1] = {
45.0_deg,
90.0_deg,
135.0_deg,
180.0_deg,
225.0_deg,
0.0_deg
};
// Selector's setup
/// Selector steps between neighbor positions
static constexpr uint16_t selectorSteps = 2790 / 4;
/// slots 0-4 are the real ones, the 5th is the farthest parking positions
static constexpr uint16_t selectorSlotPositions[toolCount + 1] = {
selectorSteps,
selectorSteps * 2,
selectorSteps * 3,
selectorSteps * 4,
selectorSteps * 5,
selectorSteps * 6
static constexpr U_mm selectorSlotPositions[toolCount + 1] = {
20.0_mm,
20.0_mm + 14.0_mm,
20.0_mm + 2.0_mm * 14.0_mm,
20.0_mm + 3.0_mm * 14.0_mm,
20.0_mm + 4.0_mm * 14.0_mm,
20.0_mm + 5.0_mm * 14.0_mm
};
// Printer's filament sensor setup

7
tests/unit/logic/cut_filament/test_cut_filament.cpp
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@ -45,7 +45,8 @@ void CutSlot(uint8_t cutSlot) {
REQUIRE(VerifyState(cf, false, mi::Idler::IdleSlotIndex(), 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));
// Beware - with the real positions of the selector, the number of steps needed to finish some states grows, so the ~40K steps here has a reason
REQUIRE(WhileTopState(cf, ProgressCode::SelectingFilamentSlot, selectorMoveMaxSteps));
// 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::blink0, ml::off, ErrorCode::OK, ProgressCode::FeedingToFinda));
@ -84,11 +85,11 @@ void CutSlot(uint8_t cutSlot) {
REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, cutSlot + 1, false, cutSlot, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::PerformingCut));
// cutting
REQUIRE(WhileTopState(cf, ProgressCode::PerformingCut, 10000));
REQUIRE(WhileTopState(cf, ProgressCode::PerformingCut, selectorMoveMaxSteps));
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(WhileTopState(cf, ProgressCode::ReturningSelector, selectorMoveMaxSteps));
REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, ms::Selector::IdleSlotIndex(), false, cutSlot, ml::on, ml::off, ErrorCode::OK, ProgressCode::OK));
}

8
tests/unit/logic/load_filament/test_load_filament.cpp
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@ -50,7 +50,7 @@ void LoadFilamentCommonSetup(uint8_t slot, logic::LoadFilament &lf) {
REQUIRE(VerifyState(lf, false, mi::Idler::IdleSlotIndex(), slot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::EngagingIdler));
// Stage 1 - engaging idler
REQUIRE(WhileTopState(lf, ProgressCode::EngagingIdler, 5000));
REQUIRE(WhileTopState(lf, ProgressCode::EngagingIdler, idlerEngageDisengageMaxSteps));
REQUIRE(VerifyState(lf, false, slot, slot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::FeedingToFinda));
}
@ -80,7 +80,7 @@ void LoadFilamentSuccessful(uint8_t slot, logic::LoadFilament &lf) {
REQUIRE(VerifyState(lf, false, slot, slot, true, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::DisengagingIdler));
// Stage 4 - disengaging idler
REQUIRE(WhileTopState(lf, ProgressCode::DisengagingIdler, 5000));
REQUIRE(WhileTopState(lf, ProgressCode::DisengagingIdler, idlerEngageDisengageMaxSteps));
REQUIRE(VerifyState(lf, true, mi::Idler::IdleSlotIndex(), slot, true, ml::on, ml::off, ErrorCode::OK, ProgressCode::OK));
}
@ -99,7 +99,7 @@ void FailedLoadToFinda(uint8_t slot, logic::LoadFilament &lf) {
REQUIRE(VerifyState(lf, false, slot, slot, false, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_ON, ProgressCode::ERRDisengagingIdler));
// Stage 3 - disengaging idler in error mode
REQUIRE(WhileTopState(lf, ProgressCode::ERRDisengagingIdler, 5000));
REQUIRE(WhileTopState(lf, ProgressCode::ERR1DisengagingIdler, idlerEngageDisengageMaxSteps));
REQUIRE(VerifyState(lf, false, mi::Idler::IdleSlotIndex(), slot, false, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_ON, ProgressCode::ERRWaitingForUser));
}
@ -122,7 +122,7 @@ void FailedLoadToFindaResolveHelp(uint8_t slot, logic::LoadFilament &lf) {
REQUIRE(VerifyState(lf, false, mi::Idler::IdleSlotIndex(), slot, false, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_ON, ProgressCode::ERREngagingIdler));
// Stage 4 - engage the idler
REQUIRE(WhileTopState(lf, ProgressCode::ERREngagingIdler, 5000));
REQUIRE(WhileTopState(lf, ProgressCode::ERR1EngagingIdler, idlerEngageDisengageMaxSteps));
REQUIRE(VerifyState(lf, false, slot, slot, false, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_ON, ProgressCode::ERRHelpingFilament));
}

6
tests/unit/logic/stubs/main_loop_stub.h
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@ -24,3 +24,9 @@ bool WhileTopState(SM &sm, ProgressCode state, uint32_t maxLoops = 5000) {
extern void EnsureActiveSlotIndex(uint8_t slot);
extern void SetFINDAStateAndDebounce(bool press);
// these are recommended max steps for simulated movement of the idler and selector
// - roughly the amount of motion steps from one end to the other + some margin
// ... could be computed in the future from the pre-set number of microsteps and real positions
static constexpr uint32_t idlerEngageDisengageMaxSteps = 40000UL;
static constexpr uint32_t selectorMoveMaxSteps = 40000UL;

12
tests/unit/logic/stubs/stub_motion.cpp
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@ -74,14 +74,14 @@ void Motion::AbortPlannedMoves() {
}
void ReinitMotion() {
const pos_t selector_pos = unitToSteps<S_pos_t>(config::selectorSlotPositions[0]);
// reset the simulation data to defaults
axes[0] = AxisSim({ 0, 0, false, false, false }); // pulley
// axes[1] = AxisSim({ selector_pos, selector_pos, false, false, false }); // selector //@@TODO proper selector positions once defined
// axes[2] = AxisSim({ 0, 0, false, false, false }); // idler
axes[1] = AxisSim({ config::selectorSlotPositions[0], config::selectorSlotPositions[0], false, false, false }); // selector
axes[2] = AxisSim({ config::idlerSlotPositions[mi::Idler::IdleSlotIndex()], config::idlerSlotPositions[mi::Idler::IdleSlotIndex()], false, false, false }); // idler
axes[1] = AxisSim({ unitToSteps<S_pos_t>(config::selectorSlotPositions[0]),
unitToSteps<S_pos_t>(config::selectorSlotPositions[0]),
false, false, false }); // selector
axes[2] = AxisSim({ unitToSteps<I_pos_t>(config::idlerSlotPositions[mi::Idler::IdleSlotIndex()]),
unitToSteps<I_pos_t>(config::idlerSlotPositions[mi::Idler::IdleSlotIndex()]),
false, false, false }); // idler
}
/// probably higher-level operations knowing the semantic meaning of axes

4
tests/unit/logic/tool_change/test_tool_change.cpp
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@ -44,7 +44,7 @@ void ToolChange(uint8_t fromSlot, uint8_t toSlot) {
hal::adc::SetADC(config::findaADCIndex, 0);
}
return tc.TopLevelState() == ProgressCode::UnloadingFilament; },
50000));
200000UL));
REQUIRE(mg::globals.FilamentLoaded() == false);
REQUIRE(WhileCondition(
@ -54,7 +54,7 @@ void ToolChange(uint8_t fromSlot, uint8_t toSlot) {
hal::adc::SetADC(config::findaADCIndex, 900);
}
return tc.TopLevelState() == ProgressCode::LoadingFilament; },
50000));
200000UL));
REQUIRE(tc.TopLevelState() == ProgressCode::OK);
REQUIRE(mg::globals.FilamentLoaded() == true);

8
tests/unit/logic/unload_filament/test_unload_filament.cpp
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@ -66,7 +66,7 @@ void RegularUnloadFromSlot04(uint8_t slot, logic::UnloadFilament &uf) {
hal::adc::SetADC(config::findaADCIndex, 0);
}
return uf.TopLevelState() == ProgressCode::UnloadingToFinda; },
5000));
50000));
// we still think we have filament loaded at this stage
// idler should have been activated by the underlying automaton
@ -76,7 +76,7 @@ void RegularUnloadFromSlot04(uint8_t slot, logic::UnloadFilament &uf) {
REQUIRE(VerifyState(uf, true, slot, slot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::DisengagingIdler));
// Stage 2 - idler was engaged, disengage it
REQUIRE(WhileTopState(uf, ProgressCode::DisengagingIdler, 5000));
REQUIRE(WhileTopState(uf, ProgressCode::DisengagingIdler, idlerEngageDisengageMaxSteps));
// we still think we have filament loaded at this stage
// idler should have been disengaged
@ -161,7 +161,7 @@ void FindaDidntTriggerCommonSetup(uint8_t slot, logic::UnloadFilament &uf) {
REQUIRE(VerifyState(uf, true, slot, slot, true, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_OFF, ProgressCode::ERRDisengagingIdler));
// Stage 2 - idler should get disengaged
REQUIRE(WhileTopState(uf, ProgressCode::ERRDisengagingIdler, 5000));
REQUIRE(WhileTopState(uf, ProgressCode::ERR1DisengagingIdler, idlerEngageDisengageMaxSteps));
// we still think we have filament loaded at this stage
// idler should have been disengaged
@ -197,7 +197,7 @@ void FindaDidntTriggerResolveHelp(uint8_t slot, logic::UnloadFilament &uf) {
REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), slot, true, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_OFF, ProgressCode::ERREngagingIdler));
// Stage 4 - engage the idler
REQUIRE(WhileTopState(uf, ProgressCode::ERREngagingIdler, 5000));
REQUIRE(WhileTopState(uf, ProgressCode::ERR1EngagingIdler, idlerEngageDisengageMaxSteps));
// we still think we have filament loaded at this stage
// idler should be engaged