79 lines
2.9 KiB
C++
79 lines
2.9 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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#include "../helpers/helpers.ipp"
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// temporarily disabled
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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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REQUIRE(EnsureActiveSlotIndex(0, mg::FilamentLoadState::AtPulley));
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EjectFilament ef;
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// restart the automaton
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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(mm::AxisNearestTargetPos(mm::Idler) == mi::Idler::SlotPosition(0).v);
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CHECK(mm::AxisNearestTargetPos(mm::Selector) == ms::Selector::SlotPosition(4).v);
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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(WhileTopState(ef, 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::gpio::WritePin(FINDA_PIN, hal::gpio::Level::high);
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REQUIRE(WhileTopState(ef, 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(WhileTopState(ef, ProgressCode::PreparingBlade, 5000));
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REQUIRE(ef.TopLevelState() == ProgressCode::EngagingIdler);
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REQUIRE(WhileTopState(ef, 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(WhileTopState(ef, 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(WhileTopState(ef, ProgressCode::PerformingCut, 5000));
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// returning selector
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REQUIRE(ef.TopLevelState() == ProgressCode::ReturningSelector);
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REQUIRE(WhileTopState(ef, ProgressCode::ReturningSelector, 5000));
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// the next states are still @@TODO
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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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