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Improve homing behavior more 

Split the wait for HomingValid and the event where we wait
for the Selector/Idler status to go 'Ready' into separate functions
pull/277/head
Guðni Már Gilbert 2023-05-28 17:29:05 +00:00
parent d6bce7f3ba
commit cb3580adb9
6 changed files with 129 additions and 21 deletions
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52
tests/unit/logic/homing/test_homing.cpp
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@ -44,10 +44,55 @@ bool SuccessfulHome(uint8_t slot) {
REQUIRE_FALSE(mi::idler.HomingValid());
REQUIRE_FALSE(ms::selector.HomingValid());
SimulateIdlerAndSelectorHoming(h);
// Idler homes first
SimulateIdlerHoming(h);
REQUIRE(WhileTopState(h, ProgressCode::Homing, 5000));
REQUIRE_FALSE(mi::idler.HomingValid());
REQUIRE_FALSE(ms::selector.HomingValid());
REQUIRE(h.TopLevelState() == ProgressCode::Homing);
// Homing becomes valid
SimulateIdlerWaitForHomingValid(h);
REQUIRE(mi::idler.HomingValid());
REQUIRE_FALSE(ms::selector.HomingValid());
REQUIRE(h.TopLevelState() == ProgressCode::Homing);
// Idler returns to the parked position, and it's state is now 'Ready'
// This will now allow the Selector to home
SimulateIdlerMoveToParkingPosition(h);
REQUIRE(mi::idler.HomingValid());
REQUIRE(mi::idler.State() == mm::MovableBase::Ready);
REQUIRE_FALSE(ms::selector.HomingValid());
REQUIRE(h.TopLevelState() == ProgressCode::Homing);
// Selector starts homing
SimulateSelectorHoming(h);
REQUIRE(mi::idler.HomingValid());
REQUIRE(mi::idler.State() == mm::MovableBase::Ready);
REQUIRE_FALSE(ms::selector.HomingValid());
REQUIRE(h.TopLevelState() == ProgressCode::Homing);
// Homing becomes valid
SimulateSelectorWaitForHomingValid(h);
REQUIRE(mi::idler.HomingValid());
REQUIRE(mi::idler.State() == mm::MovableBase::Ready);
REQUIRE(ms::selector.HomingValid());
REQUIRE(h.TopLevelState() == ProgressCode::Homing);
// If there is a planned move, the selector moves to the parked position
// Once at the parked position, it's state becomes 'Ready'
SimulateSelectorWaitForReadyState(h);
REQUIRE(mi::idler.HomingValid());
REQUIRE(mi::idler.State() == mm::MovableBase::Ready);
REQUIRE(ms::selector.HomingValid());
REQUIRE(ms::selector.State() == mm::MovableBase::Ready);
// 'Homing' should change to 'OK'
REQUIRE(VerifyState(h, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
REQUIRE(mi::idler.HomingValid());
REQUIRE(ms::selector.HomingValid());
@ -84,11 +129,12 @@ bool SelectorFailedRetry() {
}
SimulateSelectorHoming(h);
SimulateSelectorWaitForHomingValid(h);
REQUIRE(ms::selector.HomingValid());
// Wait for the selector to return to the parked position
REQUIRE(WhileTopState(h, ProgressCode::Homing, selectorMoveMaxSteps));
SimulateSelectorWaitForReadyState(h);
REQUIRE(VerifyState(h, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), 0, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
REQUIRE(mi::idler.HomingValid());

38
tests/unit/logic/stubs/homing.cpp
View File

@ -52,7 +52,7 @@ void SimulateIdlerAndSelectorHoming(logic::CommandBase &cb) {
#else
// sadly, it looks like we need to separate homing of idler and selector due to electrical reasons
SimulateIdlerHoming(cb);
SimulateSelectorHoming(cb, true);
SimulateSelectorHoming(cb);
#endif
}
@ -82,7 +82,17 @@ void SimulateIdlerHoming(logic::CommandBase &cb) {
mm::motion.StallGuardReset(mm::Idler);
}
}
}
void SimulateIdlerWaitForHomingValid(logic::CommandBase &cb) {
// Wait for the HomingValid flag to be set
while (!mi::idler.HomingValid()) {
main_loop();
cb.Step();
}
}
void SimulateIdlerMoveToParkingPosition(logic::CommandBase &cb) {
// now the Idler shall perform a move into their parking positions
while (mi::idler.State() != mm::MovableBase::Ready) {
main_loop();
@ -90,7 +100,7 @@ void SimulateIdlerHoming(logic::CommandBase &cb) {
}
}
void SimulateSelectorHoming(logic::CommandBase &cb, bool waitForParkedPosition) {
void SimulateSelectorHoming(logic::CommandBase &cb) {
// do 5 steps until we trigger the simulated StallGuard
for (uint8_t i = 0; i < 5; ++i) {
main_loop();
@ -116,22 +126,28 @@ void SimulateSelectorHoming(logic::CommandBase &cb, bool waitForParkedPosition)
mm::motion.StallGuardReset(mm::Selector);
}
}
}
void SimulateSelectorWaitForHomingValid(logic::CommandBase &cb) {
// Wait for the HomingValid flag to be set
while (!ms::selector.HomingValid()) {
main_loop();
cb.Step();
}
}
// Normally the firmware does not wait for the state to turn ready. But it can
// be useful to setup test cases. After the selector homing is valid, it will
// go to it's last planned position.
if (waitForParkedPosition) {
// now the Selector shall perform a move into their parking positions
while (ms::selector.State() != mm::MovableBase::Ready) {
main_loop();
cb.Step();
}
void SimulateSelectorWaitForReadyState(logic::CommandBase &cb) {
// now the Selector shall perform a move into their parking positions
while (ms::selector.State() != mm::MovableBase::Ready) {
main_loop();
cb.Step();
}
}
void SimulateSelectorAndIdlerWaitForReadyState(logic::CommandBase &cb) {
while (ms::selector.State() != ms::Selector::Ready && mi::idler.State() != mi::Idler::Ready) {
main_loop();
cb.Step();
}
}

10
tests/unit/logic/stubs/homing.h
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@ -5,7 +5,15 @@ class CommandBase;
}
void SimulateIdlerHoming(logic::CommandBase &cb);
void SimulateSelectorHoming(logic::CommandBase &cb, bool waitForParkedPosition = false);
void SimulateIdlerMoveToParkingPosition(logic::CommandBase &cb);
void SimulateIdlerWaitForHomingValid(logic::CommandBase &cb);
void SimulateSelectorHoming(logic::CommandBase &cb);
void SimulateSelectorWaitForReadyState(logic::CommandBase &cb);
void SimulateSelectorWaitForHomingValid(logic::CommandBase &cb);
void SimulateSelectorAndIdlerWaitForReadyState(logic::CommandBase &cb);
void SimulateIdlerAndSelectorHoming(logic::CommandBase &cb);
bool SimulateFailedHomeFirstTime(logic::CommandBase &cb);
bool SimulateFailedHomeSelectorRepeated(logic::CommandBase &cb);

8
tests/unit/logic/stubs/main_loop_stub.cpp
View File

@ -84,8 +84,14 @@ void HomeIdlerAndSelector() {
mi::idler.InvalidateHoming();
ms::selector.InvalidateHoming();
logic::NoCommand nc; // just a dummy instance which has an empty Step()
SimulateIdlerHoming(nc);
SimulateSelectorHoming(nc, true);
SimulateIdlerWaitForHomingValid(nc);
SimulateIdlerMoveToParkingPosition(nc);
SimulateSelectorHoming(nc);
SimulateSelectorWaitForHomingValid(nc);
SimulateSelectorWaitForReadyState(nc);
}
bool EnsureActiveSlotIndex(uint8_t slot, mg::FilamentLoadState loadState) {

37
tests/unit/logic/tool_change/test_tool_change.cpp
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@ -219,7 +219,23 @@ void ToolChangeFailLoadToFindaMiddleBtn(logic::ToolChange &tc, uint8_t toSlot) {
REQUIRE_FALSE(mi::idler.HomingValid());
REQUIRE_FALSE(ms::selector.HomingValid());
SimulateIdlerAndSelectorHoming(tc); // failed load to FINDA = nothing blocking the selector - it can rehome
// We've entered FeedToFinda state machine
REQUIRE(tc.TopLevelState() == ProgressCode::FeedingToFinda);
// Idler homes first
SimulateIdlerHoming(tc);
SimulateIdlerMoveToParkingPosition(tc);
// Now home the selector
SimulateSelectorHoming(tc);
// Wait for Selector to return to the planned slot
REQUIRE(WhileCondition(
tc, [&](uint32_t) {
return tc.feed.State() == tc.feed.EngagingIdler;
},
selectorMoveMaxSteps));
// @@TODO here is nasty disrepancy - FINDA is not pressed, but we pretend to have something in the Selector.
//
@ -333,8 +349,17 @@ void ToolChangeFailFSensorMiddleBtn(logic::ToolChange &tc, uint8_t fromSlot, uin
// make FINDA trigger - Idler will rehome in this step, Selector must remain at its place
SimulateIdlerHoming(tc);
REQUIRE_FALSE(mi::idler.HomingValid());
REQUIRE_FALSE(ms::selector.HomingValid());
SimulateIdlerWaitForHomingValid(tc);
REQUIRE(mi::idler.HomingValid());
REQUIRE_FALSE(ms::selector.HomingValid());
SimulateIdlerMoveToParkingPosition(tc);
// now trigger the FINDA
REQUIRE(WhileCondition(tc, std::bind(SimulateFeedToFINDA, _1, 100), 5000));
REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, fromSlot, fromSlot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
@ -515,10 +540,14 @@ void ToolChangeFSENSOR_TOO_EARLY(logic::ToolChange &tc, uint8_t slot) {
200'000UL));
// still unloading, but Selector can start homing
SimulateSelectorHoming(tc);
SimulateSelectorWaitForHomingValid(tc);
// Set waitForParkedPosition to true, since the unload filament statemachine
// explicitly waits for (ms::selector.State() == ms::Selector::Ready)
SimulateSelectorHoming(tc, true);
// Make sure we're still in unloading state
REQUIRE(tc.TopLevelState() == ProgressCode::UnloadingFilament);
// The unload filament state machine explicitly waits for (ms::selector.State() == ms::Selector::Ready)
SimulateSelectorWaitForReadyState(tc);
// wait for finishing of UnloadingFilament
WhileTopState(tc, ProgressCode::UnloadingFilament, 5000);

5
tests/unit/logic/unload_filament/test_unload_filament.cpp
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@ -164,7 +164,6 @@ void FindaDidntTriggerCommonSetup(uint8_t slot, logic::UnloadFilament &uf) {
REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, true, false, ml::off, ml::blink0, ErrorCode::FINDA_DIDNT_SWITCH_OFF, ProgressCode::ERRWaitingForUser));
}
void FindaDidntTriggerResolveTryAgain(uint8_t slot, logic::UnloadFilament &uf) {
// Stage 3 - the user has to do something
// there are 3 options:
@ -186,6 +185,10 @@ void FindaDidntTriggerResolveTryAgain(uint8_t slot, logic::UnloadFilament &uf) {
// Assume, the Idler homed (homing is invalidated after pressing the recovery button)
SimulateIdlerHoming(uf);
// Wait for the idler homing to become valid, and for the
// idler to return to 'Ready' state
SimulateIdlerMoveToParkingPosition(uf);
}
TEST_CASE("unload_filament::finda_didnt_trigger_resolve_try_again", "[unload_filament]") {