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Fix unit tests 

That includes:
- introduce pulley slow feedrate and fsensor-to-nozzle distance
  in config necessary for slowly feeding the filament from fsensor into the nozzle.
  (the constant is subject to extraction into some other config as it has to be used in the printer as well).
- update FeedToBondtech accordingly to perform a gentle push into the nozzle
  after fsensor detects the filament + update its unit tests.
- slight cleanup of LoadFilament + fix its unit tests
- add FeedingToNozzle progress code, as it might be interesting
  to inform the printer about this task in the future
- revert non-clean changes from RetractFromFinda - it should not disengage the idler
- revert incorrect + fix ToolChange
- clean-up UnloadFilament
pull/126/head
D.R.racer 2021-10-01 09:18:04 +02:00 committed by DRracer
parent 94e6d1403e
commit e1af08b3d5
16 changed files with 73 additions and 71 deletions
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2
src/config/config.h
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@ -77,6 +77,7 @@ static constexpr U_mm minimumBowdenLength = 341.0_mm; /// ~341.0_mm /// Minimum
static constexpr U_mm maximumBowdenLength = 792.0_mm; /// ~792.0_mm /// Maximum bowden length. @TODO Should be stored in EEPROM.
static constexpr U_mm feedToFinda = cuttingEdgeToFindaMidpoint + filamentMinLoadedToMMU;
static constexpr U_mm cutLength = 8.0_mm;
static constexpr U_mm fsensorToNozzle = 20.0_mm; /// ~20mm from MK4's filament sensor through extruder gears into nozzle
/// Begin: Pulley axis configuration
static constexpr AxisConfig pulley = {
@ -96,6 +97,7 @@ static constexpr PulleyLimits pulleyLimits = {
.accel = 800.0_mm_s2,
};
static constexpr U_mm_s pulleyFeedrate = 40._mm_s;
static constexpr U_mm_s pulleySlowFeedrate = 1._mm_s;
/// End: Pulley axis configuration
/// Begin: Selector configuration

19
src/logic/feed_to_bondtech.cpp
View File

@ -24,19 +24,21 @@ bool FeedToBondtech::Step() {
if (mi::idler.Engaged()) {
dbg_logic_P(PSTR("Feed to Bondtech --> Idler engaged"));
dbg_logic_sprintf_P(PSTR("Pulley start steps %u"), mm::motion.CurPosition(mm::Pulley));
state = PushingFilament;
state = PushingFilamentToFSensor;
mm::motion.InitAxis(mm::Pulley);
mm::motion.PlanMove<mm::Pulley>(config::defaultBowdenLength, config::pulleyFeedrate); //@@TODO constants - there was some strange acceleration sequence in the original FW,
// we can probably hand over some array of constants for hand-tuned acceleration + leverage some smoothing in the stepper as well
}
return false;
case PushingFilament:
case PushingFilamentToFSensor:
//dbg_logic_P(PSTR("Feed to Bondtech --> Pushing"));
if (mfs::fsensor.Pressed()) {
mm::motion.AbortPlannedMoves(); // stop pushing filament
mi::idler.Disengage();
mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InNozzle);
state = DisengagingIdler;
mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InFSensor);
// plan a slow move to help push filament into the nozzle
//@@TODO the speed in mm/s must correspond to printer's feeding speed!
mm::motion.PlanMove<mm::Pulley>(config::fsensorToNozzle, config::pulleySlowFeedrate);
state = PushingFilamentIntoNozzle;
} else if (mm::motion.StallGuard(mm::Pulley)) {
// stall guard occurred during movement - the filament got stuck
state = Failed; // @@TODO may be even report why it failed
@ -44,6 +46,13 @@ bool FeedToBondtech::Step() {
state = Failed;
}
return false;
case PushingFilamentIntoNozzle:
if (mm::motion.QueueEmpty()) {
mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InNozzle);
mi::idler.Disengage();
state = DisengagingIdler;
}
return false;
case DisengagingIdler:
if (!mi::idler.Engaged()) {
dbg_logic_P(PSTR("Feed to Bondtech --> Idler disengaged"));

5
src/logic/feed_to_bondtech.h
View File

@ -6,14 +6,15 @@ namespace logic {
/// @brief Feed filament to Bondtech gears of the printer
///
/// Continuously feed filament until the printer detects the filament in its filament sensor.
/// Then it feeds a bit more very gently to push the filament into the nozzle
/// Disengages the Idler after finishing the feed.
/// Disables the Pulley axis after disengaging the idler.
struct FeedToBondtech {
/// internal states of the state machine
enum {
EngagingIdler,
PushingFilament,
UnloadBackToPTFE,
PushingFilamentToFSensor,
PushingFilamentIntoNozzle,
DisengagingIdler,
OK,
Failed

2
src/logic/load_filament.cpp
View File

@ -48,12 +48,12 @@ bool LoadFilament::StepInner() {
if (retract.State() == RetractFromFinda::Failed) {
state = ProgressCode::ERRDisengagingIdler;
error = ErrorCode::FINDA_DIDNT_SWITCH_OFF;
mi::idler.Disengage();
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
} else {
state = ProgressCode::DisengagingIdler;
}
mi::idler.Disengage(); // disengage in both cases
}
break;
case ProgressCode::DisengagingIdler:

37
src/logic/progress_codes.h
View File

@ -14,24 +14,25 @@ enum class ProgressCode : uint_fast8_t {
UnloadingToPulley, //P4
FeedingToFinda, // P5
FeedingToBondtech, // P6
AvoidingGrind, // P7
FinishingMoves, // P8
FeedingToNozzle, // P7
AvoidingGrind, // P8
FinishingMoves, // P9
ERRDisengagingIdler, // P9
ERREngagingIdler, // P10
ERRWaitingForUser, // P11
ERRInternal, // P12
ERRHelpingFilament, // P13
ERRTMCFailed, // P14
ERRDisengagingIdler, // P10
ERREngagingIdler, // P11
ERRWaitingForUser, // P12
ERRInternal, // P13
ERRHelpingFilament, // P14
ERRTMCFailed, // P15
UnloadingFilament, // P15
LoadingFilament, // P16
SelectingFilamentSlot, // P17
PreparingBlade, // P18
PushingFilament, // P19
PerformingCut, // P20
ReturningSelector, // P21
ParkingSelector, // P22
EjectingFilament, // P23
RetractingFromFinda, // P24
UnloadingFilament, // P16
LoadingFilament, // P17
SelectingFilamentSlot, // P18
PreparingBlade, // P19
PushingFilament, // P20
PerformingCut, // P21
ReturningSelector, // P22
ParkingSelector, // P23
EjectingFilament, // P24
RetractingFromFinda, // P25
};

8
src/logic/retract_from_finda.cpp
View File

@ -30,18 +30,14 @@ bool RetractFromFinda::Step() {
if (!mf::finda.Pressed()) { // FINDA switched off correctly while the move was performed
state = OK;
mg::globals.SetFilamentLoaded(mg::FilamentLoadState::AtPulley);
mi::idler.Disengage();
dbg_logic_sprintf_P(PSTR("Pulley end steps %u"), mm::motion.CurPosition(mm::Pulley));
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
} else { // FINDA didn't switch off
state = Failed;
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0);
}
}
if (!mi::idler.Engaged()) {
dbg_logic_P(PSTR("Retract from FINDA --> Ider disengaged"));
dbg_logic_sprintf_P(PSTR("Pulley end steps %u"), mm::motion.CurPosition(mm::Pulley));
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
}
return false;
case OK:
dbg_logic_P(PSTR("Retract from FINDA OK"));

6
src/logic/retract_from_finda.h
View File

@ -5,7 +5,11 @@ namespace logic {
/// @brief Retract filament from FINDA to PTFE
///
/// Continuously pull filament by a fixed length (originally 600 steps) + verify FINDA is switched OFF
/// Continuously pulls filament by a fixed length (originally 600 steps) + verifies FINDA is switched OFF while performing the move
/// Steps:
/// - engages idler (or makes sure the idler is engaged)
/// - pulls filament
/// - leaves idler engaged for chaining operations
struct RetractFromFinda {
/// internal states of the state machine
enum {

5
src/logic/tool_change.cpp
View File

@ -19,8 +19,8 @@ void ToolChange::Reset(uint8_t param) {
return;
}
if (param == mg::globals.ActiveSlot() && (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector)) {
// we are already at the correct slot and the filament is loaded - nothing to do
if (param == mg::globals.ActiveSlot() && (mg::globals.FilamentLoaded() == mg::FilamentLoadState::InNozzle)) {
// we are already at the correct slot and the filament is loaded in the nozzle - nothing to do
dbg_logic_P(PSTR("we are already at the correct slot and the filament is loaded - nothing to do\n"));
return;
}
@ -78,7 +78,6 @@ bool ToolChange::StepInner() {
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
} else {
mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InFSensor);
state = ProgressCode::OK;
error = ErrorCode::OK;
}

8
src/logic/unload_filament.cpp
View File

@ -45,16 +45,16 @@ bool UnloadFilament::StepInner() {
if (retract.State() == RetractFromFinda::Failed) {
state = ProgressCode::ERRDisengagingIdler;
error = ErrorCode::FINDA_DIDNT_SWITCH_OFF;
mi::idler.Disengage();
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
} else {
state = ProgressCode::FinishingMoves;
state = ProgressCode::DisengagingIdler;
}
mi::idler.Disengage();
}
return false;
case ProgressCode::FinishingMoves:
if (mm::motion.QueueEmpty()) {
case ProgressCode::DisengagingIdler:
if (!mi::idler.Engaged()) {
state = ProgressCode::OK;
error = ErrorCode::OK;
mm::motion.Disable(mm::Pulley);

1
tests/unit/logic/cut_filament/CMakeLists.txt
View File

@ -4,6 +4,7 @@ add_executable(
${CMAKE_SOURCE_DIR}/src/logic/command_base.cpp
${CMAKE_SOURCE_DIR}/src/logic/cut_filament.cpp
${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp

1
tests/unit/logic/eject_filament/CMakeLists.txt
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@ -4,6 +4,7 @@ add_executable(
${CMAKE_SOURCE_DIR}/src/logic/command_base.cpp
${CMAKE_SOURCE_DIR}/src/logic/eject_filament.cpp
${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp

1
tests/unit/logic/failing_tmc/CMakeLists.txt
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@ -3,6 +3,7 @@ add_executable(
failing_tmc_tests
${CMAKE_SOURCE_DIR}/src/logic/command_base.cpp
${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp

11
tests/unit/logic/feed_to_bondtech/test_feed_to_bondtech.cpp
View File

@ -51,7 +51,7 @@ TEST_CASE("feed_to_bondtech::feed_phase_unlimited", "[feed_to_bondtech]") {
CHECK(mm::axes[mm::Pulley].enabled);
// idler engaged, selector in position, we'll start pushing filament
REQUIRE(fb.State() == FeedToBondtech::PushingFilament);
REQUIRE(fb.State() == FeedToBondtech::PushingFilamentToFSensor);
// at least at the beginning the LED should shine green (it should be blinking, but this mode has been already verified in the LED's unit test)
REQUIRE(ml::leds.LedOn(mg::globals.ActiveSlot(), ml::green));
@ -61,11 +61,18 @@ TEST_CASE("feed_to_bondtech::feed_phase_unlimited", "[feed_to_bondtech]") {
if( step == 1000 ){
mfs::fsensor.ProcessMessage(true);
}
return fb.State() == FeedToBondtech::PushingFilament; },
return fb.State() == FeedToBondtech::PushingFilamentToFSensor; },
1500));
REQUIRE(mfs::fsensor.Pressed());
// pushing filament from fsensor into the nozzle
REQUIRE(fb.State() == FeedToBondtech::PushingFilamentIntoNozzle);
REQUIRE(WhileCondition(
fb,
[&](int) { return fb.State() == FeedToBondtech::PushingFilamentIntoNozzle; },
5000));
// disengaging idler
REQUIRE(fb.State() == FeedToBondtech::DisengagingIdler);
REQUIRE(WhileCondition(

8
tests/unit/logic/load_filament/test_load_filament.cpp
View File

@ -39,11 +39,7 @@ void LoadFilamentCommonSetup(uint8_t slot, logic::LoadFilament &lf) {
// no change in selector's position
// FINDA off
// green LED should blink, red off
REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::EngagingIdler));
// Stage 1 - engaging idler
REQUIRE(WhileTopState(lf, ProgressCode::EngagingIdler, idlerEngageDisengageMaxSteps));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, slot, slot, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
}
void LoadFilamentSuccessful(uint8_t slot, logic::LoadFilament &lf) {
@ -69,7 +65,7 @@ void LoadFilamentSuccessful(uint8_t slot, logic::LoadFilament &lf) {
}
return lf.TopLevelState() == ProgressCode::RetractingFromFinda; },
5000));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, slot, slot, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::DisengagingIdler));
REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, slot, slot, false, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::DisengagingIdler));
// Stage 4 - disengaging idler
REQUIRE(WhileTopState(lf, ProgressCode::DisengagingIdler, idlerEngageDisengageMaxSteps));

1
tests/unit/logic/unload_filament/CMakeLists.txt
View File

@ -3,6 +3,7 @@ add_executable(
unload_filament_tests
${CMAKE_SOURCE_DIR}/src/logic/command_base.cpp
${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp

29
tests/unit/logic/unload_filament/test_unload_filament.cpp
View File

@ -66,36 +66,19 @@ void RegularUnloadFromSlot04(uint8_t slot, logic::UnloadFilament &uf) {
// no change in selector's position
// FINDA triggered off
// green LED should be off
REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, slot, slot, false, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::DisengagingIdler));
REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, slot, slot, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::RetractingFromFinda));
// Stage 2 - idler was engaged, disengage it
// Stage 2 - retracting from FINDA
REQUIRE(WhileTopState(uf, ProgressCode::RetractingFromFinda, idlerEngageDisengageMaxSteps));
// Stage 3 - idler was engaged, disengage it
REQUIRE(WhileTopState(uf, ProgressCode::DisengagingIdler, idlerEngageDisengageMaxSteps));
// we still think we have filament loaded at this stage
// idler should have been disengaged
// no change in selector's position
// FINDA still triggered off
// green LED should be off
REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::AvoidingGrind));
// Stage 3 - avoiding grind (whatever is that @@TODO)
REQUIRE(WhileTopState(uf, ProgressCode::AvoidingGrind, 5000));
// we still think we have filament loaded at this stage
// idler should have been disengaged
// no change in selector's position
// FINDA still triggered off
// green LED should be off
REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::FinishingMoves));
// Stage 4 - finishing moves and setting global state correctly
REQUIRE(WhileTopState(uf, ProgressCode::FinishingMoves, 5000));
// filament unloaded
// idler should have been disengaged
// no change in selector's position
// FINDA still triggered off
// green LED should be OFF
// green LED should be off
REQUIRE(VerifyState(uf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
// Stage 5 - repeated calls to TopLevelState should return "OK"