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3d9f19391e
* klipper: clear active mesh before parking with Z unhomed * Make the park status and mesh tests agree The unhomed-Z mesh guard reads printer and reactor, which the status test's park stub lacks, and the status handling reads `changing`, which the mesh test's stub lacks. Give each stub what the other change needs. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> --------- Co-authored-by: Oleksandr Shyshatskyi <shalal545@gmail.com> Co-authored-by: Claude Sonnet 5.5 <noreply@anthropic.com>
120 lines
4.6 KiB
Python
120 lines
4.6 KiB
Python
"""Parking preserves an enclosing toolchange's status ownership.
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G28 can park a mounted tool inside an auto-homing T<n> operation. Clearing the
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outer operation's flag then exposes normal pickup sensor overlap as an error.
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These tests run the real park command, sensor derivation and status views;
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hardware actions are substituted, so they do not validate release mechanics.
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"""
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import importlib.util
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from types import SimpleNamespace
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import pytest
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from lib.paths import ROOT
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pytestmark = pytest.mark.static
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MODULE = (ROOT / "pkgs" / "klipper" / "payload" / "klipper" / "klippy" /
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"extras" / "ff_toolchange.py")
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class CommandError(Exception):
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pass
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@pytest.fixture
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def parking(monkeypatch):
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spec = importlib.util.spec_from_file_location("anvil_ff_toolchange", MODULE)
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module = importlib.util.module_from_spec(spec)
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spec.loader.exec_module(module)
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tc = module.FFToolchange.__new__(module.FFToolchange)
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tc.changing = False
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# No bed mesh is loaded, so the park's unhomed-Z mesh guard stays idle.
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tc.printer = SimpleNamespace(lookup_object=lambda name, default=None: None)
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tc.restore_axis = ""
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tc.release_macro = "MOTOR_RELEASE"
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tc.dock_sensors = ["dock%d" % i for i in range(module.EXTRUDER_COUNT)]
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tc.grab_sensors = ["grab%d" % i for i in range(module.EXTRUDER_COUNT)]
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# T0 is mounted: its dock is empty and its grab sensor is active.
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sensors = {name: i != 0 for i, name in enumerate(tc.dock_sensors)}
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sensors.update({name: i == 0 for i, name in enumerate(tc.grab_sensors)})
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monkeypatch.setattr(tc, "_sensor", lambda name, eventtime=None: sensors[name])
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monkeypatch.setattr(tc, "_wait_moves", lambda: None)
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monkeypatch.setattr(tc, "_station_z", lambda: None)
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tc.tools = []
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tc.armed_tool = -1
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tc.job_z = 0.0
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tc.gcode_transform = SimpleNamespace(tool=0)
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view = module._ToolchangerView(tc)
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gcmd = SimpleNamespace(get=lambda name, default=None: default,
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error=CommandError)
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return module, tc, view, sensors, gcmd
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@pytest.mark.parametrize("incoming", [False, True], ids=["standalone", "nested"])
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def test_park_reports_changing_and_preserves_callers_state(parking, monkeypatch,
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incoming):
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_, tc, view, sensors, gcmd = parking
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tc.changing = incoming
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stages = []
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def ensure_homed(axes):
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assert axes == "xy"
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assert tc.changing is True
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assert view.get_status(0)["status"] == "changing"
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stages.append("home")
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def release(tool):
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assert tool == 0
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assert tc.changing is True
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# Tool seats in its dock before the grab sensor clears.
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sensors["dock0"] = True
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raw = tc.get_status(0)
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compat = view.get_status(0)
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assert raw["state_ok"] is False
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assert "sensor state is impossible" in raw["state_reason"]
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assert "changing" not in raw
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assert compat["status"] == "changing"
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assert compat["state_reason"] == raw["state_reason"]
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sensors["grab0"] = False
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assert tc.get_status(0)["state_ok"] is True
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assert tc.changing is True
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assert view.get_status(0)["status"] == "changing"
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stages.append("release")
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monkeypatch.setattr(tc, "_ensure_homed", ensure_homed)
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monkeypatch.setattr(tc, "_release", release)
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tc.cmd_TOOLCHANGE_PARK(gcmd)
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assert stages == ["home", "release"]
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assert tc.changing is incoming
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assert tc.get_status(0)["current_tool"] == -1
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assert view.get_status(0)["status"] == ("changing" if incoming else "ready")
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@pytest.mark.parametrize("incoming", [False, True], ids=["standalone", "nested"])
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@pytest.mark.parametrize("failure", ["sensor", "unexpected"])
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def test_park_restores_callers_state_on_exception(parking, monkeypatch,
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incoming, failure):
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module, tc, view, sensors, gcmd = parking
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tc.changing = incoming
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def ensure_homed(axes):
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assert tc.changing is True
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def release(tool):
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assert tc.changing is True
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sensors["dock0"] = True
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error = module.FFToolchangeError if failure == "sensor" else RuntimeError
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raise error("injected parking failure")
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monkeypatch.setattr(tc, "_ensure_homed", ensure_homed)
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monkeypatch.setattr(tc, "_release", release)
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expected = CommandError if failure == "sensor" else RuntimeError
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with pytest.raises(expected, match="injected parking failure"):
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tc.cmd_TOOLCHANGE_PARK(gcmd)
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assert tc.changing is incoming
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assert tc.get_status(0)["state_ok"] is False
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assert view.get_status(0)["status"] == ("changing" if incoming else "error")
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