From c8c39f7b6972d9279c2c99d119deeabf83b87130 Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Fri, 18 Nov 2022 08:49:26 +0100
Subject: [PATCH] Make sure ToolChange moves Selector to desired slot

and verify correct behaviour in unit tests - especially when Selector's start position is at a different slot.
---
 src/logic/tool_change.cpp                     |  2 +-
 src/modules/movable_base.h                    |  2 ++
 .../logic/tool_change/test_tool_change.cpp    | 26 +++++++++++--------
 3 files changed, 18 insertions(+), 12 deletions(-)

diff --git a/src/logic/tool_change.cpp b/src/logic/tool_change.cpp
index e99b92f..f6324fa 100644
--- a/src/logic/tool_change.cpp
+++ b/src/logic/tool_change.cpp
@@ -43,10 +43,10 @@ bool ToolChange::Reset(uint8_t param) {
         unl.Reset(mg::globals.ActiveSlot());
     } else {
         unloadAlreadyFinished = true;
+        mg::globals.SetFilamentLoaded(plannedSlot, mg::FilamentLoadState::InSelector); // activate the correct slot, feed uses that
         if (feed.Reset(true, false)) {
             state = ProgressCode::FeedingToFinda;
             error = ErrorCode::RUNNING;
-            //        mg::globals.SetFilamentLoaded(plannedSlot, mg::FilamentLoadState::InSelector); // this is set in feed @@TODO
             dbg_logic_P(PSTR("Filament is not loaded --> load"));
         } else {
             // selector refused to move - FINDA problem suspected
diff --git a/src/modules/movable_base.h b/src/modules/movable_base.h
index f67e5dc..8e4c91f 100644
--- a/src/modules/movable_base.h
+++ b/src/modules/movable_base.h
@@ -68,7 +68,9 @@ public:
 
     inline config::Axis Axis() const { return axis; }
 
+#ifndef UNITTEST
 protected:
+#endif
     /// internal state of the automaton
     uint8_t state;
 
diff --git a/tests/unit/logic/tool_change/test_tool_change.cpp b/tests/unit/logic/tool_change/test_tool_change.cpp
index 5b0378d..ce672a6 100644
--- a/tests/unit/logic/tool_change/test_tool_change.cpp
+++ b/tests/unit/logic/tool_change/test_tool_change.cpp
@@ -38,8 +38,7 @@ bool FeedingToFindaStep(logic::CommandBase &tc, uint32_t step, uint32_t triggerA
     return tc.TopLevelState() == ProgressCode::FeedingToFinda;
 }
 
-void FeedingToFinda(logic::ToolChange &tc, uint8_t toSlot, uint32_t triggerAt = 1000) {
-    // feeding to finda
+void FeedingToFinda(logic::ToolChange &tc, uint8_t toSlot, uint32_t triggerAt = 1000) { // feeding to finda
     REQUIRE(WhileCondition(tc, std::bind(FeedingToFindaStep, std::ref(tc), _1, triggerAt), 200'000UL));
     REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, toSlot, toSlot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToBondtech));
 }
@@ -115,21 +114,26 @@ void NoToolChange(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
 }
 
 void JustLoadFilament(logic::ToolChange &tc, uint8_t slot) {
-    ForceReinitAllAutomata();
+    for (uint8_t startSelectorSlot = 0; startSelectorSlot < config::toolCount; ++startSelectorSlot) {
+        ForceReinitAllAutomata();
+        // make sure all the modules are ready
+        // MMU-196: Move selector to a "random" slot
+        REQUIRE(EnsureActiveSlotIndex(startSelectorSlot, mg::FilamentLoadState::AtPulley));
 
-    REQUIRE(EnsureActiveSlotIndex(slot, mg::FilamentLoadState::AtPulley));
+        // verify filament NOT loaded
+        REQUIRE(VerifyEnvironmentState(mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), startSelectorSlot, false, false, ml::off, ml::off));
 
-    // verify filament NOT loaded
-    REQUIRE(VerifyEnvironmentState(mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off));
+        // restart the automaton
+        tc.Reset(slot);
 
-    // restart the automaton
-    tc.Reset(slot);
+        REQUIRE(ms::selector.plannedSlot == slot); // MMU-196 - make sure the selector is about to move to the desired slot
 
-    FeedingToFinda(tc, slot);
+        FeedingToFinda(tc, slot);
 
-    FeedingToBondtech(tc, slot);
+        FeedingToBondtech(tc, slot);
 
-    CheckFinishedCorrectly(tc, slot);
+        CheckFinishedCorrectly(tc, slot);
+    }
 }
 
 TEST_CASE("tool_change::test0", "[tool_change]") {