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Prusa-Firmware-MMU
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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.
pull/243/head
D.R.racer 2022-11-18 08:49:26 +01:00 committed by DRracer
parent 2f6e364ad0
commit c8c39f7b69
3 changed files with 18 additions and 12 deletions
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2
src/logic/tool_change.cpp
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@ -43,10 +43,10 @@ bool ToolChange::Reset(uint8_t param) {
unl.Reset(mg::globals.ActiveSlot()); unl.Reset(mg::globals.ActiveSlot());
} else { } else {
unloadAlreadyFinished = true; unloadAlreadyFinished = true;
mg::globals.SetFilamentLoaded(plannedSlot, mg::FilamentLoadState::InSelector); // activate the correct slot, feed uses that
if (feed.Reset(true, false)) { if (feed.Reset(true, false)) {
state = ProgressCode::FeedingToFinda; state = ProgressCode::FeedingToFinda;
error = ErrorCode::RUNNING; 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")); dbg_logic_P(PSTR("Filament is not loaded --> load"));
} else { } else {
// selector refused to move - FINDA problem suspected // selector refused to move - FINDA problem suspected

2
src/modules/movable_base.h
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@ -68,7 +68,9 @@ public:
inline config::Axis Axis() const { return axis; } inline config::Axis Axis() const { return axis; }
#ifndef UNITTEST
protected: protected:
#endif
/// internal state of the automaton /// internal state of the automaton
uint8_t state; uint8_t state;

26
tests/unit/logic/tool_change/test_tool_change.cpp
View File

@ -38,8 +38,7 @@ bool FeedingToFindaStep(logic::CommandBase &tc, uint32_t step, uint32_t triggerA
return tc.TopLevelState() == ProgressCode::FeedingToFinda; return tc.TopLevelState() == ProgressCode::FeedingToFinda;
} }
void FeedingToFinda(logic::ToolChange &tc, uint8_t toSlot, uint32_t triggerAt = 1000) { void FeedingToFinda(logic::ToolChange &tc, uint8_t toSlot, uint32_t triggerAt = 1000) { // feeding to finda
// feeding to finda
REQUIRE(WhileCondition(tc, std::bind(FeedingToFindaStep, std::ref(tc), _1, triggerAt), 200'000UL)); 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)); 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) { 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 // restart the automaton
REQUIRE(VerifyEnvironmentState(mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off)); tc.Reset(slot);
// restart the automaton REQUIRE(ms::selector.plannedSlot == slot); // MMU-196 - make sure the selector is about to move to the desired slot
tc.Reset(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]") { TEST_CASE("tool_change::test0", "[tool_change]") {