add the unit test.

Opentrons · Feb 6, 2025 · a28e57d · a28e57d
1 parent 51b9332
commit a28e57d
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Showing 3 changed files with 42 additions and 3 deletions.
diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -512,7 +512,7 @@ class MotorInterruptHandler {
             can::messages::ErrorMessage{.message_index = message_index,
                                         .severity = severity,
                                         .error_code = err_code});
-        if (err_code == can::ids::ErrorCode::collision_detected) {
+        if (err_code == can::ids::ErrorCode::collision_detected && _has_active_move) {
             build_and_send_ack(AckMessageId::position_error);
         }
         status_queue_client.send_move_status_reporter_queue(

diff --git a/motor-control/core/stall_check.cpp b/motor-control/core/stall_check.cpp
@@ -85,4 +85,4 @@ auto StallCheck::reset_itr_counts(int32_t stepper_steps) -> void {
         return 0;
     }
     return 1.0F / _stepper_tick_per_um;
-}
+}
diff --git a/motor-control/tests/test_motor_stall_handling.cpp b/motor-control/tests/test_motor_stall_handling.cpp
@@ -306,7 +306,7 @@ SCENARIO("motor handler stall detection") {
                 REQUIRE(!test_objs.hw.position_flags.check_flag(
                     Flags::stepper_position_ok));
                 THEN("move completed and no error was raised") {
-                    REQUIRE(test_objs.reporter.messages.size() == 6);
+                    REQUIRE(test_objs.reporter.messages.size() == 5);
                     for (auto& element : test_objs.reporter.messages) {
                         printf("%ld\n", element.index());
                     }
@@ -353,4 +353,43 @@ SCENARIO("motor handler stall detection") {
             }
         }
     }
+
+    GIVEN("A stall when a motor is not in motion.") {
+        auto velocity = 5;
+        auto cond = GENERATE(Stops::none, Stops::sync_line);
+        auto msg1 = Move{.message_index = 101,
+                         .duration = 23,
+                         .velocity = velocity,
+                         .stop_condition = static_cast<uint8_t>(cond)};
+        test_objs.hw.sim_set_encoder_pulses(0);
+        test_objs.handler.set_current_position(0);
+
+
+        WHEN("A move is commanded") {
+            test_objs.queue.try_write(msg1);
+            test_objs.handler.update_move();
+            for (int i = 0; i < (int)msg1.duration; ++i) {
+                test_objs.handler.run_interrupt();
+                test_objs.hw.sim_set_encoder_pulses(i*velocity);
+                test_objs.handler.set_current_position(static_cast<uint64_t>(i*velocity) << 31);
+            }
+            THEN("Move ends successfully.") {
+                REQUIRE(test_objs.hw.position_flags.check_flag(
+                    Flags::stepper_position_ok));
+                REQUIRE(test_objs.reporter.messages.size() == 1);
+            }
+            AND_WHEN("Motion happens after the move.") {
+                test_objs.hw.sim_set_encoder_pulses(0);
+                test_objs.reporter.messages.clear();
+                for (int i = 0; i < 10; ++i) {
+                    test_objs.handler.run_interrupt();
+                }
+                THEN("an error is sent.") {
+                    // should be 2 but idk why this runs more than once
+                    REQUIRE(test_objs.reporter.messages.size() == 3);
+                    REQUIRE(!test_objs.hw.position_flags.check_flag(Flags::stepper_position_ok));
+                }
+            }
+        }
+    }
 }
-Original file line number
+Diff line change
@@ Expand Up @@
             return 0;
         }
         return 1.0F / _stepper_tick_per_um;
-    }
+    }