Lay out the other high-level commands/operations

- cut, eject, load filament, toolchange
- uncomment them in main.cpp
- their implementation is still empty

CMakeLists.txt

@@ -196,7 +196,11 @@ target_sources(
           src/modules/leds.cpp
           src/modules/motion.cpp
           src/logic/command_base.cpp
+          src/logic/cut_filament.cpp
+          src/logic/eject_filament.cpp
+          src/logic/load_filament.cpp
           src/logic/no_command.cpp
+          src/logic/tool_change.cpp
           src/logic/unload_filament.cpp
           src/logic/unload_to_finda.cpp
   )

src/logic/cut_filament.cpp

@@ -0,0 +1,25 @@
+#include "cut_filament.h"
+#include "../modules/buttons.h"
+#include "../modules/finda.h"
+#include "../modules/leds.h"
+#include "../modules/motion.h"
+#include "../modules/permanent_storage.h"
+
+namespace logic {
+
+CutFilament cutFilament;
+
+void CutFilament::Reset() {
+    namespace mm = modules::motion;
+    state = ProgressCode::EngagingIdler;
+    error = ErrorCode::OK;
+}
+
+bool CutFilament::Step() {
+    namespace mm = modules::motion;
+    switch (state) {
+    }
+    return false;
+}
+
+} // namespace logic

src/logic/cut_filament.h

@@ -0,0 +1,26 @@
+#pragma once
+#include <stdint.h>
+#include "command_base.h"
+#include "unload_to_finda.h"
+
+namespace logic {
+
+/// A high-level command state machine
+/// Handles the complex logic of cutting filament
+class CutFilament : public CommandBase {
+public:
+    inline CutFilament()
+        : CommandBase() { Reset(); }
+
+    /// Restart the automaton
+    void Reset() override;
+
+    /// @returns true if the state machine finished its job, false otherwise
+    bool Step() override;
+
+private:
+};
+
+extern CutFilament cutFilament;
+
+} // namespace logic

src/logic/eject_filament.cpp

@@ -0,0 +1,25 @@
+#include "eject_filament.h"
+#include "../modules/buttons.h"
+#include "../modules/finda.h"
+#include "../modules/leds.h"
+#include "../modules/motion.h"
+#include "../modules/permanent_storage.h"
+
+namespace logic {
+
+EjectFilament ejectFilament;
+
+void EjectFilament::Reset() {
+    namespace mm = modules::motion;
+    state = ProgressCode::EngagingIdler;
+    error = ErrorCode::OK;
+}
+
+bool EjectFilament::Step() {
+    namespace mm = modules::motion;
+    switch (state) {
+    }
+    return false;
+}
+
+} // namespace logic

src/logic/eject_filament.h

@@ -0,0 +1,26 @@
+#pragma once
+#include <stdint.h>
+#include "command_base.h"
+#include "unload_to_finda.h"
+
+namespace logic {
+
+/// A high-level command state machine
+/// Handles the complex logic of ejecting filament
+class EjectFilament : public CommandBase {
+public:
+    inline EjectFilament()
+        : CommandBase() { Reset(); }
+
+    /// Restart the automaton
+    void Reset() override;
+
+    /// @returns true if the state machine finished its job, false otherwise
+    bool Step() override;
+
+private:
+};
+
+extern EjectFilament ejectFilament;
+
+} // namespace logic

src/logic/load_filament.cpp

@@ -0,0 +1,25 @@
+#include "load_filament.h"
+#include "../modules/buttons.h"
+#include "../modules/finda.h"
+#include "../modules/leds.h"
+#include "../modules/motion.h"
+#include "../modules/permanent_storage.h"
+
+namespace logic {
+
+LoadFilament loadFilament;
+
+void LoadFilament::Reset() {
+    namespace mm = modules::motion;
+    state = ProgressCode::EngagingIdler;
+    error = ErrorCode::OK;
+}
+
+bool LoadFilament::Step() {
+    namespace mm = modules::motion;
+    switch (state) {
+    }
+    return false;
+}
+
+} // namespace logic

src/logic/load_filament.h

@@ -0,0 +1,26 @@
+#pragma once
+#include <stdint.h>
+#include "command_base.h"
+#include "unload_to_finda.h"
+
+namespace logic {
+
+/// A high-level command state machine
+/// Handles the complex logic of loading filament
+class LoadFilament : public CommandBase {
+public:
+    inline LoadFilament()
+        : CommandBase() { Reset(); }
+
+    /// Restart the automaton
+    void Reset() override;
+
+    /// @returns true if the state machine finished its job, false otherwise
+    bool Step() override;
+
+private:
+};
+
+extern LoadFilament loadFilament;
+
+} // namespace logic

src/logic/tool_change.cpp

@@ -0,0 +1,25 @@
+#include "tool_change.h"
+#include "../modules/buttons.h"
+#include "../modules/finda.h"
+#include "../modules/leds.h"
+#include "../modules/motion.h"
+#include "../modules/permanent_storage.h"
+
+namespace logic {
+
+ToolChange toolChange;
+
+void ToolChange::Reset() {
+    namespace mm = modules::motion;
+    state = ProgressCode::EngagingIdler;
+    error = ErrorCode::OK;
+}
+
+bool ToolChange::Step() {
+    namespace mm = modules::motion;
+    switch (state) {
+    }
+    return false;
+}
+
+} // namespace logic

src/logic/tool_change.h

@@ -0,0 +1,26 @@
+#pragma once
+#include <stdint.h>
+#include "command_base.h"
+#include "unload_to_finda.h"
+
+namespace logic {
+
+/// A high-level command state machine
+/// Handles the complex logic of tool change
+class ToolChange : public CommandBase {
+public:
+    inline ToolChange()
+        : CommandBase() { Reset(); }
+
+    /// Restart the automaton
+    void Reset() override;
+
+    /// @returns true if the state machine finished its job, false otherwise
+    bool Step() override;
+
+private:
+};
+
+extern ToolChange toolChange;
+
+} // namespace logic

src/main.cpp

@@ -14,7 +14,11 @@
 #include "modules/protocol.h"
 
 #include "logic/command_base.h"
+#include "logic/cut_filament.h"
+#include "logic/eject_filament.h"
+#include "logic/load_filament.h"
 #include "logic/no_command.h"
+#include "logic/tool_change.h"
 #include "logic/unload_filament.h"
 
 static modules::protocol::Protocol protocol;
@@ -122,25 +126,25 @@ void SendMessage(const modules::protocol::ResponseMsg &msg) {
 void PlanCommand(const modules::protocol::RequestMsg &rq) {
     namespace mp = modules::protocol;
     if (currentCommand->Error() == ErrorCode::OK) {
-        // we are allowed to start a new command
+        // we are allowed to start a new command as the previous one is in the OK finished state
         switch (rq.code) {
         case mp::RequestMsgCodes::Cut:
-            //currentCommand = &cutCommand;
+            currentCommand = &logic::cutFilament;
             break;
         case mp::RequestMsgCodes::Eject:
-            //currentCommand = &ejectCommand;
+            currentCommand = &logic::ejectFilament;
             break;
         case mp::RequestMsgCodes::Load:
-            // currentCommand = &loadCommand;
+            currentCommand = &logic::loadFilament;
             break;
         case mp::RequestMsgCodes::Tool:
-            // currentCommand = &toolCommand;
+            currentCommand = &logic::toolChange;
             break;
         case mp::RequestMsgCodes::Unload:
             currentCommand = &logic::unloadFilament;
             break;
         default:
-            // currentCommand = &noCommand;
+            currentCommand = &logic::noCommand;
             break;
         }
         currentCommand->Reset();