82 lines
3.4 KiB
C++
82 lines
3.4 KiB
C++
#include "catch2/catch.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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using Catch::Matchers::Equals;
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namespace mm = modules::motion;
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namespace mf = modules::finda;
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namespace mi = modules::idler;
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namespace ml = modules::leds;
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namespace mb = modules::buttons;
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namespace mg = modules::globals;
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namespace ms = modules::selector;
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TEST_CASE("eject_filament::eject0", "[eject_filament]") {
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using namespace logic;
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ForceReinitAllAutomata();
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EjectFilament ef;
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// restart the automaton
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currentCommand = &ef;
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ef.Reset(0);
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main_loop();
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// it should have instructed the selector and idler to move to slot 1
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// check if the idler and selector have the right command
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CHECK(modules::motion::axes[modules::motion::Idler].targetPos == mi::Idler::SlotPosition(0));
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CHECK(modules::motion::axes[modules::motion::Selector].targetPos == ms::Selector::SlotPosition(4));
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// now cycle at most some number of cycles (to be determined yet) and then verify, that the idler and selector reached their target positions
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REQUIRE(WhileCondition([&]() { return ef.TopLevelState() == ProgressCode::SelectingFilamentSlot; }, 5000));
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// idler and selector reached their target positions and the CF automaton will start feeding to FINDA as the next step
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REQUIRE(ef.TopLevelState() == ProgressCode::FeedingToFinda);
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// prepare for simulated finda trigger
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hal::adc::ReinitADC(1, hal::adc::TADCData({ 0, 0, 0, 0, 600, 700, 800, 900 }), 10);
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REQUIRE(WhileCondition([&]() { return ef.TopLevelState() == ProgressCode::FeedingToFinda; }, 50000));
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// filament fed into FINDA, cutting...
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REQUIRE(ef.TopLevelState() == ProgressCode::PreparingBlade);
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REQUIRE(WhileCondition([&]() { return ef.TopLevelState() == ProgressCode::PreparingBlade; }, 5000));
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REQUIRE(ef.TopLevelState() == ProgressCode::EngagingIdler);
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REQUIRE(WhileCondition([&]() { return ef.TopLevelState() == ProgressCode::EngagingIdler; }, 5000));
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// the idler should be at the active slot @@TODO
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REQUIRE(ef.TopLevelState() == ProgressCode::PushingFilament);
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REQUIRE(WhileCondition([&]() { return ef.TopLevelState() == ProgressCode::PushingFilament; }, 5000));
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// filament pushed - performing cut
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REQUIRE(ef.TopLevelState() == ProgressCode::PerformingCut);
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REQUIRE(WhileCondition([&]() { return ef.TopLevelState() == ProgressCode::PerformingCut; }, 5000));
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// returning selector
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REQUIRE(ef.TopLevelState() == ProgressCode::ReturningSelector);
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REQUIRE(WhileCondition([&]() { return ef.TopLevelState() == ProgressCode::ReturningSelector; }, 5000));
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// the next states are still @@TODO
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}
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// comments:
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// The tricky part of the whole state machine are the edge cases - filament not loaded, stall guards etc.
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// ... all the external influence we can get on the real HW
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// But the good news is we can simulate them all in the unit test and thus ensure proper handling
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