93 lines
4.2 KiB
C++
93 lines
4.2 KiB
C++
#include "catch2/catch.hpp"
|
|
|
|
#include "../../../../src/modules/buttons.h"
|
|
#include "../../../../src/modules/finda.h"
|
|
#include "../../../../src/modules/fsensor.h"
|
|
#include "../../../../src/modules/globals.h"
|
|
#include "../../../../src/modules/idler.h"
|
|
#include "../../../../src/modules/leds.h"
|
|
#include "../../../../src/modules/motion.h"
|
|
#include "../../../../src/modules/permanent_storage.h"
|
|
#include "../../../../src/modules/selector.h"
|
|
|
|
#include "../../../../src/logic/cut_filament.h"
|
|
|
|
#include "../../modules/stubs/stub_adc.h"
|
|
|
|
#include "../stubs/main_loop_stub.h"
|
|
#include "../stubs/stub_motion.h"
|
|
|
|
using Catch::Matchers::Equals;
|
|
|
|
#include "../helpers/helpers.ipp"
|
|
|
|
void CutSlot(uint8_t cutSlot) {
|
|
|
|
ForceReinitAllAutomata();
|
|
|
|
logic::CutFilament cf;
|
|
REQUIRE(VerifyState(cf, false, mi::Idler::IdleSlotIndex(), 0, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
|
|
|
|
EnsureActiveSlotIndex(cutSlot);
|
|
|
|
// restart the automaton
|
|
cf.Reset(cutSlot);
|
|
|
|
// check initial conditions
|
|
REQUIRE(VerifyState(cf, false, mi::Idler::IdleSlotIndex(), cutSlot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::SelectingFilamentSlot));
|
|
|
|
// now cycle at most some number of cycles (to be determined yet) and then verify, that the idler and selector reached their target positions
|
|
// Beware - with the real positions of the selector, the number of steps needed to finish some states grows, so the ~40K steps here has a reason
|
|
REQUIRE(WhileTopState(cf, ProgressCode::SelectingFilamentSlot, selectorMoveMaxSteps));
|
|
|
|
// idler and selector reached their target positions and the CF automaton will start feeding to FINDA as the next step
|
|
REQUIRE(VerifyState(cf, false, cutSlot, cutSlot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::FeedingToFinda));
|
|
|
|
// prepare for simulated finda trigger
|
|
REQUIRE(WhileCondition(
|
|
cf,
|
|
[&](int step) -> bool {
|
|
if( step == 100 ){ // simulate FINDA trigger - will get pressed in 100 steps (due to debouncing)
|
|
hal::adc::SetADC(config::findaADCIndex, 900);
|
|
}
|
|
return cf.TopLevelState() == ProgressCode::FeedingToFinda; }, 5000));
|
|
|
|
// filament fed to FINDA
|
|
//@@TODO filament loaded flag - decide whether the filament loaded flag means really loaded into the printer or just a piece of filament
|
|
// stuck out of the pulley to prevent movement of the selector
|
|
REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, cutSlot, true, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::UnloadingToPulley));
|
|
|
|
// pull it back to the pulley + simulate FINDA depress
|
|
REQUIRE(WhileCondition(
|
|
cf,
|
|
[&](int step) -> bool {
|
|
if( step == 100 ){ // simulate FINDA trigger - will get depressed in 100 steps
|
|
hal::adc::SetADC(config::findaADCIndex, 0);
|
|
}
|
|
return cf.TopLevelState() == ProgressCode::UnloadingToPulley; }, 5000));
|
|
|
|
REQUIRE(VerifyState(cf, /*true*/ false, cutSlot, cutSlot, false, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::PreparingBlade));
|
|
|
|
// now move the selector aside, prepare for cutting
|
|
REQUIRE(WhileTopState(cf, ProgressCode::PreparingBlade, 5000));
|
|
REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, cutSlot + 1, false, cutSlot, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::PushingFilament));
|
|
|
|
// pushing filament a bit for a cut
|
|
REQUIRE(WhileTopState(cf, ProgressCode::PushingFilament, 5000));
|
|
REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, cutSlot + 1, false, cutSlot, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::PerformingCut));
|
|
|
|
// cutting
|
|
REQUIRE(WhileTopState(cf, ProgressCode::PerformingCut, selectorMoveMaxSteps));
|
|
REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, 0, false, cutSlot, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::ReturningSelector));
|
|
|
|
// moving selector to the other end of its axis
|
|
REQUIRE(WhileTopState(cf, ProgressCode::ReturningSelector, selectorMoveMaxSteps));
|
|
REQUIRE(VerifyState2(cf, /*true*/ false, cutSlot, ms::Selector::IdleSlotIndex(), false, cutSlot, ml::on, ml::off, ErrorCode::OK, ProgressCode::OK));
|
|
}
|
|
|
|
TEST_CASE("cut_filament::cut0", "[cut_filament]") {
|
|
for (uint8_t cutSlot = 0; cutSlot < config::toolCount; ++cutSlot) {
|
|
CutSlot(cutSlot);
|
|
}
|
|
}
|