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Workaround INVALID_TOOL error codes 

May meed some more work to recover gracefully, not sure if it is just a unit test "issue" or a deeper problem in the state machines.
pull/255/head
D.R.racer 2022-12-19 14:41:35 +01:00 committed by DRracer
parent a52f833223
commit ada4ed3dda
2 changed files with 9 additions and 1 deletions
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2
src/logic/command_base.h
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@ -95,7 +95,9 @@ public:
/// filament presence according to known sensors (FINDA+FSensor)
static void InvalidateHomingAndFilamentState();
#ifndef UNITTEST
protected:
#endif
/// @returns true if the slot/tool index is within specified range (0 - config::toolCount)
/// If not, it returns false and sets the error to ErrorCode::INVALID_TOOL
bool CheckToolIndex(uint8_t index);

8
tests/unit/logic/cut_filament/test_cut_filament.cpp
View File

@ -28,7 +28,7 @@ void CutSlot(logic::CutFilament &cf, uint8_t startSlot, uint8_t cutSlot) {
ForceReinitAllAutomata();
REQUIRE(EnsureActiveSlotIndex(startSlot, mg::FilamentLoadState::AtPulley));
REQUIRE(VerifyEnvironmentState(mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), startSlot, false, false, ml::off, ml::off));
REQUIRE(VerifyState(cf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), startSlot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
// restart the automaton
cf.Reset(cutSlot);
@ -108,6 +108,11 @@ TEST_CASE("cut_filament::state_machine_reusal", "[cut_filament]") {
logic::CutFilament cf;
for (uint8_t activeSlot = 0; activeSlot < config::toolCount; ++activeSlot) {
InvalidSlot<logic::CutFilament>(cf, activeSlot, config::toolCount);
// @@TODO if the automaton end up in an INVALID_TOOL error,
// we don't get out of it by any other means than calling a Reset
// May be that's an issue/feature of all logic layer state machines.
// Generally not that important, but it would be nice to handle such a scenario gracefully
cf.error = ErrorCode::OK;
}
for (uint8_t startSlot = 0; startSlot < config::toolCount; ++startSlot) {
@ -120,6 +125,7 @@ TEST_CASE("cut_filament::state_machine_reusal", "[cut_filament]") {
for (uint8_t cutSlot = 0; cutSlot < config::toolCount; ++cutSlot) {
CutSlot(cf, startSlot, cutSlot);
InvalidSlot<logic::CutFilament>(cf, cutSlot, config::toolCount);
cf.error = ErrorCode::OK;
}
}
}