95 lines
3.7 KiB
C++
95 lines
3.7 KiB
C++
// This test checks reporting errors while some logic operation is in progress
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// As a base for this test, unload_filament was chosen.
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// Moreover, I didn't want to spoil the unit tests of the state machines themself with this.
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#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/unload_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 CauseTMCError(mm::Axis axis, hal::tmc2130::ErrorFlags ef) {
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hal::tmc2130::TMC2130 &tmc = const_cast<hal::tmc2130::TMC2130 &>(mm::motion.DriverForAxis(axis));
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tmc.SetErrorFlags(ef);
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}
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inline ErrorCode operator|(ErrorCode a, ErrorCode b) {
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return (ErrorCode)((uint16_t)a | (uint16_t)b);
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}
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void FailingIdler(hal::tmc2130::ErrorFlags ef, ErrorCode ec) {
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// prepare startup conditions
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ForceReinitAllAutomata();
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// change the startup to what we need here
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EnsureActiveSlotIndex(0);
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mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InNozzle);
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// set FINDA ON + debounce
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SetFINDAStateAndDebounce(true);
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logic::UnloadFilament uf;
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// verify startup conditions
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REQUIRE(VerifyState(uf, mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), 0, true, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
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// UnloadFilament starts by engaging the idler (through the UnloadToFinda state machine)
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uf.Reset(0);
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REQUIRE(VerifyState(uf, mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), 0, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
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int failingStep = 5;
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REQUIRE(WhileCondition(
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uf,
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[&](int step) -> bool {
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if(step == failingStep){ // on 5th step make the TMC report some error
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CauseTMCError(mm::Idler, ef);
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}
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return uf.TopLevelState() == ProgressCode::UnloadingToFinda; },
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5000));
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// the simulated motion may proceed, but I don't care here. In reality no one really knows what the TMC does
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// The checked value is not really important here (just that it moves!), so with tuning of the constants it may break the unit test
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// Therefore it is disabled by default
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// REQUIRE(mm::axes[mm::Idler].pos == failingStep * config::pulleyToCuttingEdge.v + 1);
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// repeated calls to step this logic automaton shall produce no change
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for (int i = 0; i < 5; ++i) {
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// and this must cause the state machine to run into a TMC error state and report the error correctly
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// Please note we are leaving the Idler in an intermediate position due to the TMC failure,
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// so we cannot use the usual VerifyState(), but have to check the stuff manually
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// REQUIRE(VerifyState(uf, true, raw_6, 0, false, ml::blink0, ml::blink0, ec, ProgressCode::ERRTMCFailed));
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REQUIRE(ml::leds.Mode(0, ml::red) == ml::off);
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REQUIRE(ml::leds.Mode(0, ml::green) == ml::blink0);
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REQUIRE(uf.Error() == ec);
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REQUIRE(uf.TopLevelState() == ProgressCode::ERRTMCFailed);
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main_loop();
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uf.Step();
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}
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}
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TEST_CASE("failing_tmc::failing_idler", "[failing_tmc]") {
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hal::tmc2130::ErrorFlags ef;
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ef.ot = 1; // make the TMC hot like hell
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FailingIdler(ef, ErrorCode::TMC_OVER_TEMPERATURE_ERROR | ErrorCode::TMC_IDLER_BIT);
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}
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