113 lines
5.1 KiB
C++
113 lines
5.1 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/cut_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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void CutSlot(logic::CutFilament &cf, uint8_t cutSlot) {
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ForceReinitAllAutomata();
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EnsureActiveSlotIndex(0);
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REQUIRE(VerifyEnvironmentState(mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), 0, false, false, ml::off, ml::off));
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// restart the automaton
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cf.Reset(cutSlot);
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// check initial conditions
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REQUIRE(VerifyState2(cf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), 0, false, false, cutSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::SelectingFilamentSlot));
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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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// 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
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REQUIRE(WhileTopState(cf, ProgressCode::SelectingFilamentSlot, selectorMoveMaxSteps));
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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(VerifyState2(cf, mg::FilamentLoadState::AtPulley, cutSlot, cutSlot, false, false, cutSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
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// prepare for simulated finda trigger
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REQUIRE(WhileCondition(
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cf,
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[&](int step) -> bool {
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if( step == 100 ){ // simulate FINDA trigger - will get pressed in 100 steps (due to debouncing)
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hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::high);
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}
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return cf.TopLevelState() == ProgressCode::FeedingToFinda; }, 5000));
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// filament fed to FINDA
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REQUIRE(VerifyState2(cf, mg::FilamentLoadState::InSelector, cutSlot, cutSlot, true, true, cutSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToPulley));
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// pull it back to the pulley + simulate FINDA depress
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REQUIRE(WhileCondition(
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cf,
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[&](int step) -> bool {
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if( step == 100 ){ // simulate FINDA trigger - will get depressed in 100 steps
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hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::low);
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}
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return cf.TopLevelState() == ProgressCode::UnloadingToPulley; }, 5000));
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REQUIRE(VerifyState2(cf, mg::FilamentLoadState::AtPulley, cutSlot, cutSlot, false, true, cutSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::PreparingBlade));
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// now move the selector aside, prepare for cutting
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REQUIRE(WhileTopState(cf, ProgressCode::PreparingBlade, 5000));
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REQUIRE(VerifyState2(cf, mg::FilamentLoadState::AtPulley, cutSlot, cutSlot + 1, false, true, cutSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::PushingFilament));
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// pushing filament a bit for a cut
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REQUIRE(WhileTopState(cf, ProgressCode::PushingFilament, 5000));
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REQUIRE(VerifyState2(cf, mg::FilamentLoadState::AtPulley, cutSlot, cutSlot + 1, false, true, cutSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::PerformingCut));
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// cutting
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REQUIRE(WhileTopState(cf, ProgressCode::PerformingCut, selectorMoveMaxSteps));
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REQUIRE(VerifyState2(cf, mg::FilamentLoadState::AtPulley, cutSlot, 0, false, true, cutSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::ReturningSelector));
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// moving selector to the other end of its axis
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REQUIRE(WhileTopState(cf, ProgressCode::ReturningSelector, selectorMoveMaxSteps));
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REQUIRE(VerifyState2(cf, mg::FilamentLoadState::AtPulley, cutSlot, ms::Selector::IdleSlotIndex(), false, true, cutSlot, ml::blink0, ml::off, ErrorCode::OK, ProgressCode::OK));
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}
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TEST_CASE("cut_filament::cut0", "[cut_filament]") {
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for (uint8_t cutSlot = 0; cutSlot < config::toolCount; ++cutSlot) {
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logic::CutFilament cf;
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CutSlot(cf, cutSlot);
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}
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}
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TEST_CASE("cut_filament::invalid_slot", "[cut_filament]") {
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for (uint8_t activeSlot = 0; activeSlot < config::toolCount; ++activeSlot) {
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logic::CutFilament cf;
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InvalidSlot<logic::CutFilament>(cf, activeSlot, config::toolCount);
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}
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}
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TEST_CASE("cut_filament::state_machine_reusal", "[cut_filament]") {
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logic::CutFilament cf;
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for (uint8_t activeSlot = 0; activeSlot < config::toolCount; ++activeSlot) {
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InvalidSlot<logic::CutFilament>(cf, activeSlot, config::toolCount);
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}
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for (uint8_t cutSlot = 0; cutSlot < config::toolCount; ++cutSlot) {
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CutSlot(cf, cutSlot);
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}
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for (uint8_t cutSlot = 0; cutSlot < config::toolCount; ++cutSlot) {
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CutSlot(cf, cutSlot);
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InvalidSlot<logic::CutFilament>(cf, cutSlot, config::toolCount);
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}
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}
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