salman/examples/conveyor/conveyor.salman-test.yaml at main · celikgo/salman · GitHub

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# Tests for examples/conveyor/conveyor.st
#
#   salman test examples/conveyor/conveyor.st examples/conveyor/
#
# Values are written as IEC literals and mean here exactly what they mean in
# source: T#5s is a duration, 16#FF is a byte, TRUE is a BOOL.

- test: "the belt does not run until the start button is pressed"
  pou: Conveyor
  steps:
    - { scans: 1, expect: { Motor: false, Jam_Lamp: false, State: 0 } }
    - { set: { Start_PB: true }, scans: 1, expect: { Motor: true, State: 1 } }

- test: "the belt runs on for two seconds after the stop button, then stops"
  pou: Conveyor
  steps:
    - { set: { Start_PB: true }, scans: 1, expect: { Motor: true } }
    - set: { Start_PB: false, Stop_PB: true }
      scans: 1
      expect: { Motor: true }
      note: "the run-on TOF holds the motor while the belt clears"
    - { advance: "T#1s999ms", expect: { Motor: true } }
    - { advance: "T#2ms", expect: { Motor: false } }

- test: "the stop button wins when both buttons are pressed, and there is no start-up pulse"
  pou: Conveyor
  steps:
    - set: { Start_PB: true, Stop_PB: true }
      scans: 1
      expect: { Motor: false }
      note: >-
        Two rules at once. RS is reset dominant, so with both buttons pressed the latch
        is clear. And a fresh TOF whose input starts low must not begin an off delay:
        if it did, every programme using a run-on timer would emit a phantom pulse the
        moment the controller started.
    - { advance: "T#3s", expect: { Motor: false } }
    - set: { Stop_PB: false }
      scans: 1
      expect: { Motor: true }
      note: "releasing stop lets the latch set, because start is still held"

- test: "each part counts exactly once, on the leading edge of the sensor"
  pou: Conveyor
  steps:
    - { set: { Start_PB: true }, scans: 1, expect: { Parts.CV: 0 } }
    - { set: { Part_Sensor: true }, scans: 1, expect: { Parts.CV: 1 } }
    - set: {}
      scans: 5
      expect: { Parts.CV: 1 }
      note: "a sensor held high must not count five more times"
    - { set: { Part_Sensor: false }, scans: 1 }
    - { set: { Part_Sensor: true }, scans: 1, expect: { Parts.CV: 2 } }

- test: "the batch completes at ten parts and progress reaches one hundred percent"
  pou: Conveyor
  steps:
    - { set: { Start_PB: true }, scans: 1 }
    - { set: { Part_Sensor: true }, scans: 1 }
    - { set: { Part_Sensor: false }, scans: 1 }
    - { set: { Part_Sensor: true }, scans: 1 }
    - { set: { Part_Sensor: false }, scans: 1 }
    - { set: { Part_Sensor: true }, scans: 1 }
    - { set: { Part_Sensor: false }, scans: 1 }
    - { set: { Part_Sensor: true }, scans: 1 }
    - { set: { Part_Sensor: false }, scans: 1 }
    - { set: { Part_Sensor: true }, scans: 1 }
    - { set: { Part_Sensor: false }, scans: 1 }
    - { set: { Part_Sensor: true }, scans: 1 }
    - { set: { Part_Sensor: false }, scans: 1 }
    - { set: { Part_Sensor: true }, scans: 1 }
    - { set: { Part_Sensor: false }, scans: 1 }
    - { set: { Part_Sensor: true }, scans: 1 }
    - { set: { Part_Sensor: false }, scans: 1 }
    - { set: { Part_Sensor: true }, scans: 1 }
    - { set: { Part_Sensor: false }, scans: 1 }
    - { set: { Part_Sensor: true }, scans: 1, expect: { Parts.CV: 10, Batch_Done: true } }
    - { expect: { Progress: 100, State: 3 } }

- test: "a jam is flagged after ten seconds of running with no part"
  pou: Conveyor
  steps:
    - { set: { Start_PB: true }, scans: 1, expect: { Jam_Lamp: false } }
    - { advance: "T#9s999ms", expect: { Jam_Lamp: false } }
    - { advance: "T#2ms", expect: { Jam_Lamp: true, State: 2 } }

- test: "a part restarts the jam timer"
  pou: Conveyor
  steps:
    - { set: { Start_PB: true }, scans: 1 }
    - { advance: "T#9s", expect: { Jam_Lamp: false } }
    - set: { Part_Sensor: true }
      scans: 1
      note: "the edge output drops IN for one scan, which restarts the timer"
    - { set: { Part_Sensor: false }, advance: "T#9s", expect: { Jam_Lamp: false } }
    - { advance: "T#2s", expect: { Jam_Lamp: true } }

- test: "the whole sequence produces the recorded trace"
  pou: Conveyor
  record: [Motor, Jam_Lamp, Batch_Done, "Parts.CV", Progress, State]
  golden: conveyor.trace
  steps:
    - { set: { Start_PB: true }, scans: 4 }
    - { set: { Part_Sensor: true }, scans: 3 }
    - { set: { Part_Sensor: false }, scans: 3 }
    - { set: { Part_Sensor: true }, scans: 3 }
    - { set: { Stop_PB: true, Start_PB: false }, scans: 4 }