Update to latest main + fix unit tests

... in relation to the newly introduced stepping in physical units rather than in steps

src/config/config.h

@@ -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] = {
+static constexpr U_deg idlerSlotPositions[toolCount + 1] = {
-    idlerSteps,
+    45.0_deg,
-    idlerSteps * 2,
+    90.0_deg,
-    idlerSteps * 3,
+    135.0_deg,
-    idlerSteps * 4,
+    180.0_deg,
-    idlerSteps * 5,
+    225.0_deg,
-    0
+    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] = {
+static constexpr U_mm selectorSlotPositions[toolCount + 1] = {
-    selectorSteps,
+    20.0_mm,
-    selectorSteps * 2,
+    20.0_mm + 14.0_mm,
-    selectorSteps * 3,
+    20.0_mm + 2.0_mm * 14.0_mm,
-    selectorSteps * 4,
+    20.0_mm + 3.0_mm * 14.0_mm,
-    selectorSteps * 5,
+    20.0_mm + 4.0_mm * 14.0_mm,
-    selectorSteps * 6
+    20.0_mm + 5.0_mm * 14.0_mm
 };
 
 // Printer's filament sensor setup

tests/unit/logic/cut_filament/test_cut_filament.cpp

@@ -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));
 }
 

tests/unit/logic/load_filament/test_load_filament.cpp

@@ -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));
 }

tests/unit/logic/stubs/main_loop_stub.h

@@ -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;

tests/unit/logic/stubs/stub_motion.cpp

@@ -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[1] = AxisSim({ unitToSteps<S_pos_t>(config::selectorSlotPositions[0]),
-//    axes[2] = AxisSim({ 0, 0, false, false, false }); // idler
+        unitToSteps<S_pos_t>(config::selectorSlotPositions[0]),
-    axes[1] = AxisSim({ config::selectorSlotPositions[0], config::selectorSlotPositions[0], false, false, false }); // selector
+        false, false, false }); // selector
-    axes[2] = AxisSim({ config::idlerSlotPositions[mi::Idler::IdleSlotIndex()], config::idlerSlotPositions[mi::Idler::IdleSlotIndex()], false, false, false }); // idler
+    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

tests/unit/logic/tool_change/test_tool_change.cpp

@@ -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);

tests/unit/logic/unload_filament/test_unload_filament.cpp

@@ -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