85 lines
3.0 KiB
C++
85 lines
3.0 KiB
C++
#include "catch2/catch_test_macros.hpp"
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#include "catch2/generators/catch_generators.hpp"
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#include "../../../../src/modules/buttons.h"
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#include "../../../../src/modules/finda.h"
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#include "../../../../src/modules/fsensor.h"
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#include "../../../../src/modules/globals.h"
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#include "../../../../src/modules/idler.h"
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#include "../../../../src/modules/leds.h"
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#include "../../../../src/modules/motion.h"
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#include "../../../../src/modules/permanent_storage.h"
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#include "../../../../src/modules/selector.h"
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#include "../../../../src/logic/eject_filament.h"
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#include "../../modules/stubs/stub_adc.h"
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#include "../stubs/main_loop_stub.h"
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#include "../stubs/stub_motion.h"
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#include "../helpers/helpers.ipp"
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TEST_CASE("eject_filament::eject0-4", "[eject_filament]") {
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using namespace logic;
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uint8_t ejectSlot = GENERATE(0, 1, 2, 3, 4);
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uint8_t selectorParkedPos = (ejectSlot <= 2) ? 4 : 0;
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ForceReinitAllAutomata();
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REQUIRE(EnsureActiveSlotIndex(ejectSlot, mg::FilamentLoadState::AtPulley));
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EjectFilament ef;
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// restart the automaton
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ef.Reset(ejectSlot);
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main_loop();
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// Start at UnloadingFilament
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REQUIRE(ef.TopLevelState() == ProgressCode::UnloadingFilament);
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REQUIRE(WhileTopState(ef, ProgressCode::UnloadingFilament, 5000));
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REQUIRE(ef.TopLevelState() == ProgressCode::ParkingSelector);
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REQUIRE(WhileTopState(ef, ProgressCode::ParkingSelector, selectorMoveMaxSteps));
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// Engaging idler
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REQUIRE(ef.TopLevelState() == ProgressCode::EngagingIdler);
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REQUIRE(WhileTopState(ef, ProgressCode::EngagingIdler, 5000));
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REQUIRE(mi::idler.Engaged());
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REQUIRE(ef.TopLevelState() == ProgressCode::EjectingFilament);
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REQUIRE(WhileTopState(ef, ProgressCode::EjectingFilament, 5000));
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// should end up in error disengage idler
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REQUIRE(VerifyState2(ef, mg::FilamentLoadState::AtPulley, ejectSlot, selectorParkedPos, false, true, ejectSlot, ml::off, ml::blink0, ErrorCode::RUNNING, ProgressCode::ERRDisengagingIdler));
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SimulateErrDisengagingIdler(ef, ErrorCode::FILAMENT_EJECTED);
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// Pulley should now be disabled
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REQUIRE(VerifyState2(ef, mg::FilamentLoadState::AtPulley, mi::idler.IdleSlotIndex(), selectorParkedPos, false, false, ejectSlot, ml::off, ml::blink0, ErrorCode::FILAMENT_EJECTED, ProgressCode::ERRWaitingForUser));
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// Now press Done button
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PressButtonAndDebounce(ef, mb::Middle, true);
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ClearButtons(ef);
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// Idler and Selector are not on HOLD state
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REQUIRE(mi::idler.State() != mm::MovableBase::OnHold);
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REQUIRE(ms::selector.State() != mm::MovableBase::OnHold);
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// Error code is now OK
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// LEDs turn off at the ejected slot
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REQUIRE(VerifyState2(ef, mg::FilamentLoadState::AtPulley, mi::idler.IdleSlotIndex(), selectorParkedPos, false, false, ejectSlot, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
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}
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TEST_CASE("eject_filament::invalid_slot", "[eject_filament]") {
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for (uint8_t activeSlot = 0; activeSlot < config::toolCount; ++activeSlot) {
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logic::EjectFilament ef;
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InvalidSlot<logic::EjectFilament>(ef, activeSlot, config::toolCount);
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}
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}
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