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PFW-1404 Update unit tests

pull/233/head
Guðni Már Gilbert 2022-10-27 23:06:34 +00:00
parent b750cc21f4
commit b7c8bbd41e
5 changed files with 76 additions and 30 deletions
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16
tests/unit/logic/load_filament/test_load_filament.cpp
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@ -131,6 +131,7 @@ void FailedLoadToFindaResolveHelp(uint8_t slot, logic::LoadFilament &lf) {
// In this case we check the first option
PressButtonAndDebounce(lf, mb::Left, false);
ClearButtons(lf);
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERREngagingIdler));
@ -142,8 +143,6 @@ void FailedLoadToFindaResolveHelp(uint8_t slot, logic::LoadFilament &lf) {
REQUIRE(WhileTopState(lf, ProgressCode::ERREngagingIdler, idlerEngageDisengageMaxSteps));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, slot, slot, false, true, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRHelpingFilament));
ClearButtons(lf);
}
void FailedLoadToFindaResolveHelpFindaTriggered(uint8_t slot, logic::LoadFilament &lf) {
@ -171,8 +170,9 @@ void FailedLoadToFindaResolveManual(uint8_t slot, logic::LoadFilament &lf) {
// simulate the user fixed the issue himself
// Perform press on button 2 + debounce + switch on FINDA
hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::high);
SetFINDAStateAndDebounce(true);
PressButtonAndDebounce(lf, mb::Right, false);
ClearButtons(lf);
// the Idler also engages in this call as this is planned as the next step
SimulateIdlerHoming(lf);
@ -180,8 +180,6 @@ void FailedLoadToFindaResolveManual(uint8_t slot, logic::LoadFilament &lf) {
// pulling filament back
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, slot, slot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::RetractingFromFinda));
ClearButtons(lf);
// Stage 3 - retracting from finda
// we'll assume the finda is working correctly here
REQUIRE(WhileCondition(
@ -216,24 +214,23 @@ void FailedLoadToFindaResolveManual(uint8_t slot, logic::LoadFilament &lf) {
}
void FailedLoadToFindaResolveManualNoFINDA(uint8_t slot, logic::LoadFilament &lf) {
// Perform press on button 2 + debounce + keep FINDA OFF (i.e. the user didn't solve anything)
// Perform press and release on button 2 + debounce + keep FINDA OFF (i.e. the user didn't solve anything)
PressButtonAndDebounce(lf, mb::Right, false);
ClearButtons(lf);
SimulateIdlerHoming(lf);
ClearButtons(lf);
// pulling filament back
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_ON, ProgressCode::ERRWaitingForUser));
}
void FailedLoadToFindaResolveTryAgain(uint8_t slot, logic::LoadFilament &lf) {
PressButtonAndDebounce(lf, mb::Middle, false);
ClearButtons(lf);
// the state machine should have restarted
// Idler's position needs to be ignored as it has started homing after the button press
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, config::toolCount, slot, false, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
ClearButtons(lf);
SimulateIdlerHoming(lf);
@ -361,6 +358,7 @@ void LoadFilamentStopped(uint8_t slot, logic::LoadFilament &lf) {
// now press a button
PressButtonAndDebounce(lf, mb::Middle, false);
ClearButtons(lf);
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, slot, slot, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::RetractingFromFinda));

14
tests/unit/logic/stubs/homing.cpp
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@ -142,6 +142,18 @@ bool SimulateFailedHomeSelectorPostfix(logic::CommandBase &cb) {
PressButtonAndDebounce(cb, mb::Middle, false);
// Holding down the button has no effect
if (cb.Error() == ErrorCode::RUNNING)
return false;
if (cb.State() == ProgressCode::Homing)
return false;
if (ms::selector.HomingValid())
return false;
if (mm::motion.Enabled(mm::Selector))
return false;
ClearButtons(cb);
// it shall start homing again
if (cb.Error() != ErrorCode::RUNNING)
return false;
@ -152,8 +164,6 @@ bool SimulateFailedHomeSelectorPostfix(logic::CommandBase &cb) {
if (!mm::motion.Enabled(mm::Selector))
return false;
ClearButtons(cb);
return true;
}

21
tests/unit/logic/unload_filament/test_unload_filament.cpp
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@ -74,16 +74,19 @@ void RegularUnloadFromSlot04(uint8_t slot, logic::UnloadFilament &uf, uint8_t en
REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, slot, slot, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::RetractingFromFinda));
// Stage 2 - retracting from FINDA
REQUIRE(WhileTopState(uf, ProgressCode::RetractingFromFinda, idlerEngageDisengageMaxSteps));
REQUIRE(WhileTopState(uf, ProgressCode::RetractingFromFinda));
// Stage 3 - idler was engaged, disengage it
REQUIRE(WhileTopState(uf, ProgressCode::DisengagingIdler, idlerEngageDisengageMaxSteps));
REQUIRE(VerifyState(uf, mg::FilamentLoadState::AtPulley, slot, slot, false, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::DisengagingIdler));
// Stage 3 - If selector is not homed, we must home while the idler is disengaging before we can exit ProgressCode::DisengagingIdler state
if (selectorShallHomeAtEnd) {
REQUIRE(ms::selector.Slot() == 0xff);
SimulateSelectorHoming(uf);
}
// Stage 4 - Wait application to exit DisengagingIdler state
REQUIRE(WhileTopState(uf, ProgressCode::DisengagingIdler, idlerEngageDisengageMaxSteps));
// filament unloaded
// idler should have been disengaged
// no change in selector's position
@ -177,6 +180,7 @@ void FindaDidntTriggerResolveHelp(uint8_t slot, logic::UnloadFilament &uf) {
REQUIRE_FALSE(mui::userInput.AnyEvent());
// Perform press on button 0 + debounce
PressButtonAndDebounce(uf, mb::Left, false);
ClearButtons(uf);
REQUIRE_FALSE(mui::userInput.AnyEvent()); // button processed and nothing remains
// we still think we have filament loaded at this stage
@ -260,6 +264,7 @@ void FindaDidntTriggerResolveTryAgain(uint8_t slot, logic::UnloadFilament &uf) {
// In this case we check the second option
PressButtonAndDebounce(uf, mb::Middle, false);
ClearButtons(uf);
// we still think we have filament loaded at this stage
// idler should have been disengaged
@ -305,8 +310,9 @@ void FailedUnloadResolveManual(uint8_t slot, logic::UnloadFilament &uf) {
// simulate the user fixed the issue himself
// Perform press on button 2 + debounce + switch off FINDA
hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::low);
SetFINDAStateAndDebounce(false);
PressButtonAndDebounce(uf, mb::Right, false);
ClearButtons(uf);
REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
@ -331,6 +337,7 @@ void FailedUnloadResolveManualFINDAon(uint8_t slot, logic::UnloadFilament &uf) {
// Perform press on button 2 + debounce + keep FINDA on
PressButtonAndDebounce(uf, mb::Right, false);
ClearButtons(uf);
REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, true, false, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_OFF, ProgressCode::ERRWaitingForUser));
}
@ -340,8 +347,9 @@ void FailedUnloadResolveManualFSensorOn(uint8_t slot, logic::UnloadFilament &uf)
// Perform press on button 2 + debounce + keep FSensor on
SetFSensorStateAndDebounce(true);
hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::low);
SetFINDAStateAndDebounce(false);
PressButtonAndDebounce(uf, mb::Right, false);
ClearButtons(uf);
REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::blink0, ErrorCode::FSENSOR_DIDNT_SWITCH_OFF, ProgressCode::ERRWaitingForUser));
}
@ -376,8 +384,9 @@ TEST_CASE("unload_filament::unload_homing_retry", "[unload_filament][homing]") {
FindaDidntTriggerCommonSetup(slot, uf);
// simulate the user fixed the issue himself (not really important, we are after a failed homing of the selector)
hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::low);
SetFINDAStateAndDebounce(false);
PressButtonAndDebounce(uf, mb::Right, false);
ClearButtons(uf);
SimulateIdlerHoming(uf); // make Idler happy
REQUIRE(WhileCondition(uf, std::bind(SimulateFeedToFINDA, _1, 100), 5000));

33
tests/unit/modules/buttons/test_buttons.cpp
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@ -4,6 +4,13 @@
#include "buttons.h"
#include "../hal/adc.h"
enum : uint8_t {
Waiting = 0,
Detected = 1,
WaitForRelease = 2,
Update = 3,
};
bool Step_Basic_One_Button_Test(mb::Buttons &b, uint8_t oversampleFactor, uint8_t testedButtonIndex, uint8_t otherButton1, uint8_t otherButton2) {
for (uint8_t i = 0; i < oversampleFactor; ++i) {
b.Step(); // should detect the press but remain in detected state - wait for debounce
@ -97,14 +104,20 @@ TEST_CASE("buttons::Step-basic-button-one-after-other", "[buttons]") {
CHECK(Step_Basic_One_Button_Test(b, oversampleFactor, 2, 0, 1));
}
void StepAndCheck(mb::Buttons &b, uint8_t oversampleFactor, bool rightPressed, bool middlePressed, bool leftPressed) {
void StepAndCheck(mb::Buttons &b, uint8_t oversampleFactor, bool rightPressed, bool middlePressed, bool leftPressed, uint8_t state) {
for (uint8_t i = 0; i < oversampleFactor; ++i) {
b.Step(); // should detect the press but remain in detected state - wait for debounce
mt::IncMillis();
}
if (state == Update) {
CHECK(b.ButtonReleased(mb::Right) == rightPressed);
CHECK(b.ButtonReleased(mb::Middle) == middlePressed);
CHECK(b.ButtonReleased(mb::Left) == leftPressed);
} else {
CHECK(b.ButtonPressed(mb::Right) == rightPressed);
CHECK(b.ButtonPressed(mb::Middle) == middlePressed);
CHECK(b.ButtonPressed(mb::Left) == leftPressed);
}
}
/// This test tries to simulate a bouncing effect on data from ADC on the first button
@ -120,31 +133,31 @@ TEST_CASE("buttons::Step-debounce-one-button", "[buttons]") {
mb::Buttons b;
// 5: should detect the press but remain in detected state - wait for debounce
StepAndCheck(b, oversampleFactor, false, false, false);
StepAndCheck(b, oversampleFactor, false, false, false, Detected);
// 1023: reset to waiting
StepAndCheck(b, oversampleFactor, false, false, false);
StepAndCheck(b, oversampleFactor, false, false, false, Waiting);
// 5: pressed again, still in debouncing state
StepAndCheck(b, oversampleFactor, false, false, false);
StepAndCheck(b, oversampleFactor, false, false, false, Detected);
// 9: no change
StepAndCheck(b, oversampleFactor, false, false, false);
StepAndCheck(b, oversampleFactor, false, false, false, Detected);
// 6: no change
StepAndCheck(b, oversampleFactor, false, false, false);
StepAndCheck(b, oversampleFactor, false, false, false, Detected);
// 7: one step from "pressed"
StepAndCheck(b, oversampleFactor, false, false, false);
StepAndCheck(b, oversampleFactor, false, false, false, Detected);
// 8: fifth set of samples - should report "pressed" finally
StepAndCheck(b, oversampleFactor, true, false, false);
StepAndCheck(b, oversampleFactor, true, false, false, WaitForRelease);
// 1023: sixth set of samples - button released (no debouncing on release)
StepAndCheck(b, oversampleFactor, false, false, false);
StepAndCheck(b, 1, true, false, false, Update);
// 1023: seventh set of samples - still released
StepAndCheck(b, oversampleFactor, false, false, false);
StepAndCheck(b, oversampleFactor, false, false, false, Waiting);
}
TEST_CASE("buttons::verify_ADC_stub", "[buttons]") {

16
tests/unit/modules/user_input/test_user_input.cpp
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@ -22,6 +22,13 @@ void PressButtonAndDebounce(uint8_t btnIndex) {
}
}
void ReleaseButton(uint8_t btnIndex) {
hal::adc::SetADC(config::buttonsADCIndex, config::buttonADCMaxValue);
mb::buttons.Step();
mui::userInput.Step();
mt::IncMillis();
}
TEST_CASE("user_input::printer_in_charge", "[user_input]") {
uint8_t button;
mui::Event event;
@ -54,6 +61,11 @@ TEST_CASE("user_input::printer_in_charge", "[user_input]") {
REQUIRE(mb::buttons.ButtonPressed(button));
// we should NOT be able to extract the event with ConsumeEvent
REQUIRE(mui::userInput.ConsumeEvent() == mui::NoEvent);
REQUIRE_FALSE(mui::userInput.AnyEvent());
ReleaseButton(button);
REQUIRE(mb::buttons.ButtonReleased(button));
REQUIRE(mui::userInput.ConsumeEvent() == mui::NoEvent);
REQUIRE(mui::userInput.AnyEvent());
// but we should be able to extract that message with ConsumeEventForPrinter
REQUIRE(mui::userInput.ConsumeEventForPrinter() == event);
@ -78,7 +90,11 @@ TEST_CASE("user_input::button_pressed_MMU", "[user_input]") {
PressButtonAndDebounce(button);
REQUIRE(mb::buttons.ButtonPressed(button));
REQUIRE(mui::userInput.ConsumeEvent() == mui::NoEvent);
REQUIRE_FALSE(mui::userInput.AnyEvent());
// we should be able to extract the event with ConsumeEvent
ReleaseButton(button);
REQUIRE(mb::buttons.ButtonReleased(button));
REQUIRE(mui::userInput.AnyEvent());
REQUIRE(mui::userInput.ConsumeEvent() == event);
REQUIRE_FALSE(mui::userInput.AnyEvent());