Add move-failed unit tests

tests/unit/logic/homing/test_homing.cpp

@@ -11,6 +11,7 @@
 #include "../../../../src/modules/selector.h"
 
 #include "../../../../src/logic/home.h"
+#include "../../../../src/logic/move_selector.h"
 #include "../../../../src/logic/load_filament.h"
 #include "../../../../src/logic/unload_filament.h"
 
@@ -95,3 +96,90 @@ bool SelectorFailedRetry() {
 TEST_CASE("homing::selector_failed_retry", "[homing]") {
     REQUIRE(SelectorFailedRetry());
 }
+
+bool SimulateFailedMoveFirstTime(logic::CommandBase &cb) {
+    {
+        // do 5 steps until we trigger the simulated stallguard
+        for (uint8_t i = 0; i < 5; ++i) {
+            main_loop();
+            cb.Step();
+        }
+
+        mm::TriggerStallGuard(mm::Selector);
+        main_loop();
+        cb.Step();
+        mm::motion.StallGuardReset(mm::Selector);
+    }
+
+    while (ms::selector.State() != mm::MovableBase::MoveFailed) {
+        main_loop();
+        cb.Step();
+    }
+
+    REQUIRE_FALSE(!WhileTopState(cb, ProgressCode::MovingSelector, 5));
+
+    REQUIRE(cb.Error() == ErrorCode::MOVE_SELECTOR_FAILED);
+    REQUIRE(cb.State() == ProgressCode::ERRWaitingForUser);
+    //    REQUIRE_FALSE(mm::motion.Enabled(mm::Selector));
+
+    // do a few steps before pushing the button
+    WhileTopState(cb, ProgressCode::ERRWaitingForUser, 5);
+
+    //    REQUIRE_FALSE(mm::motion.Enabled(mm::Selector));
+
+    PressButtonAndDebounce(cb, mb::Middle);
+
+    // it shall start homing again
+    REQUIRE(cb.Error() == ErrorCode::RUNNING);
+    REQUIRE(cb.State() == ProgressCode::Homing);
+    REQUIRE_FALSE(ms::selector.HomingValid());
+    REQUIRE(mm::motion.Enabled(mm::Selector));
+
+    ClearButtons(cb);
+
+    return true;
+}
+
+bool SelectorMoveFailedRetry(uint8_t fromSlot, uint8_t toSlot) {
+    // prepare startup conditions
+    ForceReinitAllAutomata();
+
+    // change the startup to what we need here
+    EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::AtPulley);
+
+    // set FINDA OFF + debounce
+    SetFINDAStateAndDebounce(false);
+
+    logic::MoveSelector ms;
+    REQUIRE(VerifyState(ms, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), fromSlot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
+
+    ms.Reset(toSlot);
+    REQUIRE(VerifyState(ms, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), fromSlot, false, false, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::MovingSelector));
+
+    REQUIRE(SimulateFailedMoveFirstTime(ms));
+
+    //    for (uint8_t i = 0; i < 5; ++i) {
+    //        REQUIRE(SimulateFailedHomeSelectorRepeated(h));
+    //    }
+
+    // both selector and idler shall home
+    SimulateIdlerAndSelectorHoming(ms);
+
+    REQUIRE(WhileTopState(ms, ProgressCode::Homing, 5000));
+
+    REQUIRE(VerifyState(ms, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), toSlot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
+    REQUIRE(mi::idler.HomingValid());
+    REQUIRE(ms::selector.HomingValid());
+
+    return true;
+}
+
+TEST_CASE("moving::selector_stallguard", "[moving]") {
+    for (uint8_t from = 0; from < config::toolCount; ++from) {
+        for (uint8_t to = 0; to < config::toolCount; ++to) {
+            if (from != to) {
+                REQUIRE(SelectorMoveFailedRetry(from, to));
+            }
+        }
+    }
+}