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Verify repeated calls to Step do not change from ERRTMCFailed

pull/112/head
D.R.racer 2021-08-27 17:04:57 +02:00 committed by DRracer
parent 161e46b09a
commit b708e67a19
1 changed files with 16 additions and 10 deletions
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26
tests/unit/logic/failing_tmc/test_failing_tmc.cpp
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@ -56,26 +56,32 @@ void FailingIdler(hal::tmc2130::ErrorFlags ef, ErrorCode ec) {
REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), 0, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda)); REQUIRE(VerifyState(uf, true, mi::Idler::IdleSlotIndex(), 0, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
int failingStep = 5;
REQUIRE(WhileCondition( REQUIRE(WhileCondition(
uf, uf,
[&](int step) -> bool { [&](int step) -> bool {
if(step == 5){ // on 5th step make the TMC report some error if(step == failingStep){ // on 5th step make the TMC report some error
CauseTMCError(mm::Idler, ef); CauseTMCError(mm::Idler, ef);
} }
return uf.TopLevelState() == ProgressCode::UnloadingToFinda; }, return uf.TopLevelState() == ProgressCode::UnloadingToFinda; },
5000)); 5000));
// and this must cause the state machine to run into a TMC error state and report the error correctly REQUIRE(mm::axes[mm::Idler].pos == failingStep + 1); // the simulated motion may proceed, but I don't care here. In reality no one really knows what the TMC does
// Please note we are leaving the Idler in an intermediate position due to the TMC failure,
// so we cannot use the usual VerifyState(), but have to check the stuff manually
// REQUIRE(VerifyState(uf, true, raw_6, 0, false, ml::blink0, ml::blink0, ec, ProgressCode::ERRTMCFailed));
REQUIRE(mm::axes[mm::Idler].pos == 6);
REQUIRE(ml::leds.Mode(0, ml::red) == ml::off);
REQUIRE(ml::leds.Mode(0, ml::green) == ml::blink0);
REQUIRE(uf.Error() == ec);
REQUIRE(uf.TopLevelState() == ProgressCode::ERRTMCFailed);
// repeated calls to step this logic automaton shall produce no change // repeated calls to step this logic automaton shall produce no change
for (int i = 0; i < 5; ++i) {
// and this must cause the state machine to run into a TMC error state and report the error correctly
// Please note we are leaving the Idler in an intermediate position due to the TMC failure,
// so we cannot use the usual VerifyState(), but have to check the stuff manually
// REQUIRE(VerifyState(uf, true, raw_6, 0, false, ml::blink0, ml::blink0, ec, ProgressCode::ERRTMCFailed));
REQUIRE(ml::leds.Mode(0, ml::red) == ml::off);
REQUIRE(ml::leds.Mode(0, ml::green) == ml::blink0);
REQUIRE(uf.Error() == ec);
REQUIRE(uf.TopLevelState() == ProgressCode::ERRTMCFailed);
main_loop();
uf.Step();
}
} }
TEST_CASE("failing_tmc::failing_idler", "[failing_tmc]") { TEST_CASE("failing_tmc::failing_idler", "[failing_tmc]") {