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Fix test failed_load_to_finda_0-4_try_again 

- Homing is invalidated on error, re-home
- Pulley motors needs to be enabled in test when feeding to finda

If there is no error afterwards, there is no need to re-home
pull/247/head
Guðni Már Gilbert 2022-12-17 15:39:16 +00:00
parent 6223613167
commit e064d2dbb4
1 changed files with 7 additions and 24 deletions
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31
tests/unit/logic/load_filament/test_load_filament.cpp
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@ -83,25 +83,6 @@ void LoadFilamentSuccessful(uint8_t slot, logic::LoadFilament &lf) {
REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK)); REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
} }
void LoadFilamentSuccessfulWithRehomeSelector(uint8_t slot, logic::LoadFilament &lf) {
// Stage 2 - feeding to finda
// make FINDA switch on
REQUIRE(WhileCondition(lf, std::bind(SimulateFeedToFINDA, _1, 100), 5000));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, slot, slot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::RetractingFromFinda));
// Stage 3 - retracting from finda
// we'll assume the finda is working correctly here
REQUIRE(WhileCondition(lf, std::bind(SimulateRetractFromFINDA, _1, 100), 5000));
REQUIRE(WhileCondition(
lf, [&](uint32_t) { return lf.State() == ProgressCode::RetractingFromFinda; }, 50000));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, slot, 0xff, false, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::DisengagingIdler));
// Stage 4 - disengaging Idler + homing Selector simultaneously
SimulateSelectorHoming(lf);
REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
}
TEST_CASE("load_filament::regular_load_to_slot_0-4", "[load_filament]") { TEST_CASE("load_filament::regular_load_to_slot_0-4", "[load_filament]") {
for (uint8_t slot = 0; slot < config::toolCount; ++slot) { for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
logic::LoadFilament lf; logic::LoadFilament lf;
@ -231,14 +212,15 @@ void FailedLoadToFindaResolveManualNoFINDA(uint8_t slot, logic::LoadFilament &lf
void FailedLoadToFindaResolveTryAgain(uint8_t slot, logic::LoadFilament &lf) { void FailedLoadToFindaResolveTryAgain(uint8_t slot, logic::LoadFilament &lf) {
PressButtonAndDebounce(lf, mb::Middle, false); PressButtonAndDebounce(lf, mb::Middle, false);
// Re-home idler and selector
REQUIRE_FALSE(mi::idler.HomingValid());
REQUIRE_FALSE(ms::selector.HomingValid());
SimulateIdlerAndSelectorHoming(lf); // failed load to FINDA = nothing blocking the selector - it can rehome
// the state machine should have restarted // the state machine should have restarted
// Idler's position needs to be ignored as it has started homing after the button press // Idler's position needs to be ignored as it has started homing after the button press
REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, config::toolCount, slot, false, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda)); REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, config::toolCount, slot, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
ClearButtons(lf); ClearButtons(lf);
SimulateIdlerHoming(lf);
LoadFilamentSuccessfulWithRehomeSelector(slot, lf);
} }
TEST_CASE("load_filament::failed_load_to_finda_0-4_resolve_help_second_ok", "[load_filament]") { TEST_CASE("load_filament::failed_load_to_finda_0-4_resolve_help_second_ok", "[load_filament]") {
@ -308,6 +290,7 @@ TEST_CASE("load_filament::failed_load_to_finda_0-4_try_again", "[load_filament]"
LoadFilamentCommonSetup(slot, lf, true); LoadFilamentCommonSetup(slot, lf, true);
FailedLoadToFinda(slot, lf); FailedLoadToFinda(slot, lf);
FailedLoadToFindaResolveTryAgain(slot, lf); FailedLoadToFindaResolveTryAgain(slot, lf);
LoadFilamentSuccessful(slot, lf);
} }
} }