90 lines
2.4 KiB
C++
90 lines
2.4 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/tool_change.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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void ToolChange(uint8_t fromSlot, uint8_t toSlot) {
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ForceReinitAllAutomata();
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logic::ToolChange tc;
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EnsureActiveSlotIndex(fromSlot);
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// restart the automaton
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tc.Reset(toSlot);
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REQUIRE(WhileCondition(
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tc,
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[&](int step) -> bool {
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if(step == 2000){ // on 2000th step make FINDA trigger
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hal::adc::SetADC(1, 0);
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}
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return tc.TopLevelState() == ProgressCode::UnloadingFilament; },
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50000));
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REQUIRE(mg::globals.FilamentLoaded() == false);
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REQUIRE(WhileCondition(
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tc,
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[&](int step) -> bool {
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if(step == 1000){ // on 1000th step make FINDA trigger
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hal::adc::SetADC(1, 900);
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}
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return tc.TopLevelState() == ProgressCode::LoadingFilament; },
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50000));
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REQUIRE(tc.TopLevelState() == ProgressCode::OK);
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REQUIRE(mg::globals.FilamentLoaded() == true);
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REQUIRE(mg::globals.ActiveSlot() == toSlot);
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}
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void NoToolChange(uint8_t fromSlot, uint8_t toSlot) {
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ForceReinitAllAutomata();
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logic::ToolChange tc;
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EnsureActiveSlotIndex(fromSlot);
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// restart the automaton
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tc.Reset(toSlot);
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// should not do anything
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REQUIRE(tc.TopLevelState() == ProgressCode::OK);
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REQUIRE(tc.Error() == ErrorCode::OK);
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}
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TEST_CASE("tool_change::test0", "[tool_change]") {
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for (uint8_t fromSlot = 0; fromSlot < 5; ++fromSlot) {
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for (uint8_t toSlot = 0; toSlot < 5; ++toSlot) {
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if (fromSlot != toSlot) {
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ToolChange(fromSlot, toSlot);
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} else {
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NoToolChange(fromSlot, toSlot);
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}
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}
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}
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}
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