105 lines
3.5 KiB
C++
105 lines
3.5 KiB
C++
#include "main_loop_stub.h"
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#include "../../modules/stubs/stub_adc.h"
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#include "../../modules/stubs/stub_timebase.h"
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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/modules/user_input.h"
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#include "../stubs/stub_motion.h"
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#include <new> // bring in placement new
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#include <stddef.h>
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void main_loop() {
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mb::buttons.Step();
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ml::leds.Step();
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mf::finda.Step();
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mfs::fsensor.Step();
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mi::idler.Step();
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ms::selector.Step();
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mm::motion.Step();
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mui::userInput.Step();
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mt::IncMillis();
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}
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void ForceReinitAllAutomata() {
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// This woodoo magic with placement new is just a forced reinit of global instances of firmware's state machines
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// just for the purposes of separate unit tests. Each unit test needs a "freshly booted firmware" and since all unit tests
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// in the test binary share the same global data structures, we need some way of making them fresh each time.
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//
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// This approach mimics the firmware behavior closely as the firmware initializes its global data structures
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// on its very start once (by copying static init data from PROGMEM into RAM) - and we need exactly this approach in the unit tests.
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//
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// There are multiple other approaches, one of them is adding a special Init() function into each of these state machines.
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// As this approach might look like a standard and safer way of doing stuff, it has several drawbacks, especially
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// it needs an explicit call to the Init function every time an object like this is created - this can have negative influence on firmware's code size
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new (&mb::buttons) mb::Buttons();
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new (&ml::leds) ml::LEDs();
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new (&mf::finda) mf::FINDA();
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new (&mfs::fsensor) mfs::FSensor();
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new (&mi::idler) mi::Idler();
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new (&ms::selector) ms::Selector();
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new (&mm::motion) mm::Motion();
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// no buttons involved ;)
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hal::adc::ReinitADC(config::buttonsADCIndex, hal::adc::TADCData({ 1023 }), 1);
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// finda OFF
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hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::low);
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// reinit timing
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mt::ReinitTimebase();
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// reinit axes positions
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mm::ReinitMotion();
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// let's assume we have the filament NOT loaded and active slot 0
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mg::globals.SetFilamentLoaded(mg::FilamentLoadState::AtPulley);
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mg::globals.SetActiveSlot(0);
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}
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void HomeIdlerAndSelector() {
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ms::selector.Home();
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mi::idler.Home();
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// do 5 steps until we trigger the simulated stallguard
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for (uint8_t i = 0; i < 5; ++i) {
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main_loop();
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}
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mm::TriggerStallGuard(mm::Selector);
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mm::TriggerStallGuard(mm::Idler);
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// now the Selector and Idler shall perform a move into their parking positions
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while (ms::selector.State() != mm::MovableBase::Ready || mi::idler.State() != mm::MovableBase::Ready)
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main_loop();
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}
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void EnsureActiveSlotIndex(uint8_t slot) {
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HomeIdlerAndSelector();
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// move selector to the right spot
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ms::selector.MoveToSlot(slot);
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while (ms::selector.Slot() != slot)
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main_loop();
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mg::globals.SetActiveSlot(slot);
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}
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void SetFINDAStateAndDebounce(bool press) {
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hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::high);
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for (size_t i = 0; i < config::findaDebounceMs + 1; ++i)
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main_loop();
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}
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